{ "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": 5946, "type": "walker.pedestrian.0003", "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": -0.0005812972667627037, "expert_target_speed": 10.0, "target_point": [ 50.99800688193722, -0.0009303629670114333 ], "target_point_next": [ 101.99797780661558, -0.001190672431686579 ] }, "5": { "acceleration": [ -0.001983228139579296, 0.0017939828103408217, -0.18464207649230957 ], "angular_velocity": [ 0.0071968561969697475, 0.009324431419372559, 1.555502603878267e-05 ], "forward_vector": [ -0.9869213700294495, -0.16046437621116638, 0.015410289168357849 ], "right_vector": [ 0.16048415005207062, -0.9870384335517883, 4.686624379246496e-05 ], "location": [ 1257.15966796875, 4099.244140625, 364.2385559082031 ], "rotation": [ -0.002685556886717677, 0.8829795122146606, -170.76504516601562 ], "velocity": [ 0.000546228897292167, 9.349869651487097e-05, 0.03284673020243645 ], "speed": 0.0005541732711769818, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 15.002365112304688, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1242.353759765625, 4096.837890625, 364.4954528808594 ], "velocity": [ -0.009173138998448849, -0.0014358221087604761, -0.6359332799911499 ], "speed_kmh": 2.2896038056511254, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "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": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.36364835500717163, "transform": { "location": { "x": 1271.9656982421875, "y": 4101.65234375, "z": 364.01751708984375 }, "rotation": { "roll": 0.0012057063868269324, "pitch": 0.8874737620353699, "yaw": -170.76527404785156 } }, "velocity": { "x": -0.005480648949742317, "y": -0.0007888244581408799, "z": -0.36360618472099304 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.6360010504722595, "transform": { "location": { "x": 1242.353759765625, "y": 4096.837890625, "z": 364.4954528808594 }, "rotation": { "roll": 0.0002447464212309569, "pitch": 0.8494091033935547, "yaw": -170.76528930664062 } }, "velocity": { "x": -0.009173138998448849, "y": -0.0014358221087604761, "z": -0.6359332799911499 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.5137468576431274, "transform": { "location": { "x": 1227.548828125, "y": 4094.430908203125, "z": 364.67498779296875 }, "rotation": { "roll": -0.0008850140729919076, "pitch": 0.8218287825584412, "yaw": -170.7652587890625 } }, "velocity": { "x": -0.007243396248668432, "y": -0.0012430917704477906, "z": -0.5136942863464355 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": -0.0010415345896035433, "expert_target_speed": 1.0031558980649076, "target_point": [ 50.9982478567551, -0.0010424967491733383 ], "target_point_next": [ 101.99821878100892, -0.0013757622574566142 ] }, "10": { "acceleration": [ -0.000770023325458169, 0.0013715666718780994, -0.05888921022415161 ], "angular_velocity": [ -0.004536180756986141, -0.002375372452661395, 0.00028072207351215184 ], "forward_vector": [ -0.986921489238739, -0.16046512126922607, 0.01539455447345972 ], "right_vector": [ 0.16048455238342285, -0.9870383739471436, 2.7693573429132812e-05 ], "location": [ 1257.15966796875, 4099.244140625, 364.2428283691406 ], "rotation": [ -0.0015869128983467817, 0.8820778727531433, -170.76499938964844 ], "velocity": [ 0.00013792469690088183, 3.584233854780905e-05, 0.007741149980574846 ], "speed": 0.00014250577268228777, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 15.002291679382324, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1242.3529052734375, 4096.837890625, 364.4390563964844 ], "velocity": [ 0.0009377129026688635, 5.756337122875266e-05, 0.06152816489338875 ], "speed_kmh": 0.22152721303835646, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "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": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.044233039021492004, "transform": { "location": { "x": 1271.9654541015625, "y": 4101.65234375, "z": 364.0098876953125 }, "rotation": { "roll": 0.0013701912248507142, "pitch": 0.8883616924285889, "yaw": -170.7652130126953 } }, "velocity": { "x": 0.0006927780923433602, "y": 0.0002243172493763268, "z": 0.04422704502940178 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.06153533607721329, "transform": { "location": { "x": 1242.3529052734375, "y": 4096.837890625, "z": 364.4390563964844 }, "rotation": { "roll": -0.0006103554624132812, "pitch": 0.8518543243408203, "yaw": -170.7652587890625 } }, "velocity": { "x": 0.0009377129026688635, "y": 5.756337122875266e-05, "z": 0.06152816489338875 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.1048654094338417, "transform": { "location": { "x": 1227.548828125, "y": 4094.430908203125, "z": 364.6661682128906 }, "rotation": { "roll": -0.001800527679733932, "pitch": 0.8233792781829834, "yaw": -170.76516723632812 } }, "velocity": { "x": 0.0015390702756121755, "y": 7.830397953512147e-05, "z": 0.10485408455133438 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": 0.0007802018662914634, "expert_target_speed": 0.976999054116032, "target_point": [ 50.9982478557377, -0.0010911324683355872 ], "target_point_next": [ 101.99821877965049, -0.0014730353390284279 ] }, "15": { "acceleration": [ -0.0003742933622561395, 0.0018338545924052596, -0.004960694350302219 ], "angular_velocity": [ -0.02187003381550312, -0.003321851370856166, 0.0005461722612380981 ], "forward_vector": [ -0.986921489238739, -0.16046535968780518, 0.015390264801681042 ], "right_vector": [ 0.16048479080200195, -0.9870383143424988, 2.7161089747096412e-05 ], "location": [ 1257.15966796875, 4099.244140625, 364.24365234375 ], "rotation": [ -0.0015564002096652985, 0.8818320035934448, -170.76498413085938 ], "velocity": [ 4.7463476221309975e-05, 7.824033673387021e-05, 0.001900403294712305 ], "speed": 9.1511375616588e-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": 15.009029388427734, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1242.3466796875, 4096.8369140625, 364.4708251953125 ], "velocity": [ -0.07278184592723846, -0.013122104108333588, 0.11361484229564667 ], "speed_kmh": 0.4880320067071572, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "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": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 1.0905346870422363, "transform": { "location": { "x": 1271.881591796875, "y": 4101.63818359375, "z": 364.0180358886719 }, "rotation": { "roll": -0.0007934632594697177, "pitch": 1.027103304862976, "yaw": -170.73114013671875 } }, "velocity": { "x": -1.0746303796768188, "y": -0.18329377472400665, "z": 0.02896338328719139 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.13556444644927979, "transform": { "location": { "x": 1242.3466796875, "y": 4096.8369140625, "z": 364.4708251953125 }, "rotation": { "roll": -0.0003967363736592233, "pitch": 0.8645516633987427, "yaw": -170.7640380859375 } }, "velocity": { "x": -0.07278184592723846, "y": -0.013122104108333588, "z": 0.11361484229564667 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.023079128935933113, "transform": { "location": { "x": 1227.549072265625, "y": 4094.430908203125, "z": 364.6816711425781 }, "rotation": { "roll": -6.103776104282588e-05, "pitch": 0.822559654712677, "yaw": -170.76512145996094 } }, "velocity": { "x": 0.0003370155463926494, "y": 0.00016093415615614504, "z": 0.02307610772550106 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": 0.0006773049826733768, "expert_target_speed": 0.9719026196366345, "target_point": [ 50.9982478557377, -0.0010911324683355872 ], "target_point_next": [ 101.99821877965049, -0.0014730353390284279 ] }, "20": { "acceleration": [ -0.00019079147023148835, -0.001362364273518324, 0.002368318382650614 ], "angular_velocity": [ 0.0067109884694218636, -0.0053615146316587925, 0.00012610777048394084 ], "forward_vector": [ -0.9869211912155151, -0.1604672372341156, 0.015390145592391491 ], "right_vector": [ 0.1604865938425064, -0.9870380163192749, 2.2367805286194198e-05 ], "location": [ 1257.15966796875, 4099.244140625, 364.2439880371094 ], "rotation": [ -0.0012817326933145523, 0.8818252086639404, -170.76487731933594 ], "velocity": [ 3.9262769860215485e-05, -1.888662518467754e-05, 0.0017544798320159316 ], "speed": 4.356913710371989e-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": 15.125188827514648, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1242.232421875, 4096.81689453125, 364.4830017089844 ], "velocity": [ -0.7995880842208862, -0.1385875791311264, 0.007934674620628357 ], "speed_kmh": 2.9215737410342904, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "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": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 2.1959261894226074, "transform": { "location": { "x": 1271.4638671875, "y": 4101.56689453125, "z": 364.0260009765625 }, "rotation": { "roll": 0.00017141122953034937, "pitch": 1.0632691383361816, "yaw": -170.7184295654297 } }, "velocity": { "x": -2.1646034717559814, "y": -0.36793026328086853, "z": 0.03480459004640579 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.8115482330322266, "transform": { "location": { "x": 1242.232421875, "y": 4096.81689453125, "z": 364.4830017089844 }, "rotation": { "roll": -0.003906251862645149, "pitch": 1.0024735927581787, "yaw": -170.71047973632812 } }, "velocity": { "x": -0.7995880842208862, "y": -0.1385875791311264, "z": 0.007934674620628357 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 1.0558539628982544, "transform": { "location": { "x": 1227.4317626953125, "y": 4094.410888671875, "z": 364.6846923828125 }, "rotation": { "roll": -0.0008544953307136893, "pitch": 0.8531042337417603, "yaw": -170.7398681640625 } }, "velocity": { "x": -1.0403350591659546, "y": -0.1798502653837204, "z": 0.013577756471931934 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": -0.0011435133637860417, "expert_target_speed": 0.9792741987969458, "target_point": [ 50.99824785412465, -0.0011640860470780723 ], "target_point_next": [ 101.99821877743894, -0.001618944961379043 ] }, "25": { "acceleration": [ -1.0300171375274658, -0.1691022515296936, 0.031371116638183594 ], "angular_velocity": [ 0.04506252333521843, 0.059461623430252075, 1.0414596796035767 ], "forward_vector": [ -0.9868199825286865, -0.16066668927669525, 0.019304268062114716 ], "right_vector": [ 0.16069713234901428, -0.9870038032531738, 2.6626627004588954e-05 ], "location": [ 1257.03955078125, 4099.224609375, 364.2451171875 ], "rotation": [ -0.00152587762568146, 1.1061217784881592, -170.75267028808594 ], "velocity": [ -0.8096262216567993, -0.13365840911865234, 0.012683963403105736 ], "speed": 0.8205846629826771, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 15.285833358764648, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1241.9541015625, 4096.76904296875, 364.4820251464844 ], "velocity": [ -1.6489334106445312, -0.285241037607193, 0.0055534932762384415 ], "speed_kmh": 6.024355226824805, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "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": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 3.639019727706909, "transform": { "location": { "x": 1270.746826171875, "y": 4101.4443359375, "z": 364.0374450683594 }, "rotation": { "roll": 0.0006436778348870575, "pitch": 1.1032053232192993, "yaw": -170.53945922851562 } }, "velocity": { "x": -3.586150646209717, "y": -0.6155046224594116, "z": 0.056056633591651917 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.6734319925308228, "transform": { "location": { "x": 1241.9541015625, "y": 4096.76904296875, "z": 364.4820251464844 }, "rotation": { "roll": -0.003997796680778265, "pitch": 1.0478465557098389, "yaw": -170.62274169921875 } }, "velocity": { "x": -1.6489334106445312, "y": -0.285241037607193, "z": 0.0055534932762384415 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 1.6764105558395386, "transform": { "location": { "x": 1227.081787109375, "y": 4094.350830078125, "z": 364.6894836425781 }, "rotation": { "roll": -9.15571945370175e-05, "pitch": 0.8462125658988953, "yaw": -170.66250610351562 } }, "velocity": { "x": -1.6515448093414307, "y": -0.2866944968700409, "z": 0.023629769682884216 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": 0.00098450668156147, "expert_target_speed": 1.7846140908369357, "target_point": [ 50.87655171538211, -0.012009206648121662 ], "target_point_next": [ 101.8765213832473, -0.023334515967757596 ] }, "30": { "acceleration": [ -1.448533535003662, -0.2410656213760376, 0.01646231859922409 ], "angular_velocity": [ 0.0021809947211295366, -0.20947708189487457, -0.1725543737411499 ], "forward_vector": [ -0.9866512417793274, -0.16172386705875397, 0.01909533143043518 ], "right_vector": [ 0.16175447404384613, -0.98683100938797, 5.964410593151115e-05 ], "location": [ 1256.779296875, 4099.18212890625, 364.2492370605469 ], "rotation": [ -0.003417978761717677, 1.0941483974456787, -170.69131469726562 ], "velocity": [ -1.229546308517456, -0.20245616137981415, 0.018431348726153374 ], "speed": 1.2461029741034857, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 15.598586082458496, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1241.3858642578125, 4096.671875, 364.4874572753906 ], "velocity": [ -3.0105509757995605, -0.5222293734550476, 0.0445803739130497 ], "speed_kmh": 11.001006329212894, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.074819564819336, "transform": { "location": { "x": 1189.5303955078125, "y": 4091.3017578125, "z": 365.2499084472656 }, "rotation": { "roll": 0.005141859874129295, "pitch": -0.8470185399055481, "yaw": 9.618827819824219 } }, "velocity": { "x": 7.956549644470215, "y": 1.3724029064178467, "z": -0.11196041852235794 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 5.046781539916992, "transform": { "location": { "x": 1269.666015625, "y": 4101.2578125, "z": 364.0544128417969 }, "rotation": { "roll": 0.002480120863765478, "pitch": 1.1139354705810547, "yaw": -170.32858276367188 } }, "velocity": { "x": -4.97226619720459, "y": -0.8606250286102295, "z": 0.07680869847536087 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.055835008621216, "transform": { "location": { "x": 1241.3858642578125, "y": 4096.671875, "z": 364.4874572753906 }, "rotation": { "roll": -0.0025939953047782183, "pitch": 1.144978642463684, "yaw": -170.51290893554688 } }, "velocity": { "x": -3.0105509757995605, "y": -0.5222293734550476, "z": 0.0445803739130497 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.2041661739349365, "transform": { "location": { "x": 1226.6015625, "y": 4094.2685546875, "z": 364.6965026855469 }, "rotation": { "roll": 0.0019837694708257914, "pitch": 0.8399834632873535, "yaw": -170.53927612304688 } }, "velocity": { "x": -2.171431303024292, "y": -0.37723308801651, "z": 0.03048713691532612 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": -0.003944690339267254, "expert_target_speed": 2.2202547899364498, "target_point": [ 50.6128116387896, -0.06632091360400239 ], "target_point_next": [ 101.61273992929125, -0.13226596262578383 ] }, "35": { "acceleration": [ -1.2039685249328613, -0.20339608192443848, 0.009838864207267761 ], "angular_velocity": [ 0.012289207428693771, -0.1364278644323349, 0.07022598385810852 ], "forward_vector": [ -0.9866216778755188, -0.1620093733072281, 0.018183182924985886 ], "right_vector": [ 0.16203676164150238, -0.9867846965789795, 3.301771357655525e-05 ], "location": [ 1256.43505859375, 4099.125, 364.2547302246094 ], "rotation": [ -0.001892088446766138, 1.041877031326294, -170.67489624023438 ], "velocity": [ -1.5171940326690674, -0.2510037124156952, 0.02252412773668766 ], "speed": 1.5378168279782505, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 16.26749610900879, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1240.3828125, 4096.4990234375, 364.5018615722656 ], "velocity": [ -4.918524742126465, -0.8551440238952637, 0.07684388756752014 ], "speed_kmh": 17.974444150779, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.023736953735352, "transform": { "location": { "x": 1191.5130615234375, "y": 4091.642333984375, "z": 365.2209167480469 }, "rotation": { "roll": -0.00604248046875, "pitch": -0.8627621531486511, "yaw": 9.741874694824219 } }, "velocity": { "x": 7.906247615814209, "y": 1.3628610372543335, "z": -0.11920344829559326 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 3.4984242916107178, "transform": { "location": { "x": 1268.438232421875, "y": 4101.04443359375, "z": 364.07318115234375 }, "rotation": { "roll": 0.01055657584220171, "pitch": 0.7855673432350159, "yaw": -169.75462341308594 } }, "velocity": { "x": -3.447028398513794, "y": -0.5953407883644104, "z": 0.050369784235954285 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.99290132522583, "transform": { "location": { "x": 1240.3828125, "y": 4096.4990234375, "z": 364.5018615722656 }, "rotation": { "roll": -0.001983652589842677, "pitch": 1.2989858388900757, "yaw": -170.35748291015625 } }, "velocity": { "x": -4.918524742126465, "y": -0.8551440238952637, "z": 0.07684388756752014 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.7504043579101562, "transform": { "location": { "x": 1225.988037109375, "y": 4094.1630859375, "z": 364.7054748535156 }, "rotation": { "roll": 0.0038734395056962967, "pitch": 0.8393892049789429, "yaw": -170.4151153564453 } }, "velocity": { "x": -2.709329843521118, "y": -0.47196951508522034, "z": 0.038730476051568985 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": -0.004270028322935104, "expert_target_speed": 2.544235393189087, "target_point": [ 50.26384445617841, -0.0814443910057534 ], "target_point_next": [ 101.26375171553451, -0.16202927095601538 ] }, "40": { "acceleration": [ -1.1670923233032227, -0.053647756576538086, 0.007825680077075958 ], "angular_velocity": [ 0.0752636268734932, -0.020580511540174484, -0.19576022028923035 ], "forward_vector": [ -0.9866033792495728, -0.16214381158351898, 0.017975909635424614 ], "right_vector": [ 0.16216881573200226, -0.9867630004882812, -6.824743468314409e-05 ], "location": [ 1256.0140380859375, 4099.0556640625, 364.2611999511719 ], "rotation": [ 0.0039109219796955585, 1.0299992561340332, -170.66712951660156 ], "velocity": [ -1.8388915061950684, -0.2978018522262573, 0.02700907737016678 ], "speed": 1.862849407425559, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.198122024536133, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1239.0455322265625, 4096.26708984375, 364.52392578125 ], "velocity": [ -5.896482467651367, -1.0283775329589844, 0.08795669674873352 ], "speed_kmh": 21.550082988207855, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.10732650756836, "transform": { "location": { "x": 1193.5003662109375, "y": 4091.98486328125, "z": 365.19061279296875 }, "rotation": { "roll": -0.008392340503633022, "pitch": -0.8663001656532288, "yaw": 9.77251148223877 } }, "velocity": { "x": 7.988771915435791, "y": 1.3759384155273438, "z": -0.12268461287021637 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.4520510137081146, "transform": { "location": { "x": 1268.22607421875, "y": 4101.0078125, "z": 364.0760192871094 }, "rotation": { "roll": 0.005529589019715786, "pitch": 0.48449259996414185, "yaw": -169.61590576171875 } }, "velocity": { "x": -0.44487354159355164, "y": -0.07991404831409454, "z": 0.007169523276388645 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.986134052276611, "transform": { "location": { "x": 1239.0455322265625, "y": 4096.26708984375, "z": 364.52392578125 }, "rotation": { "roll": 0.0036444521974772215, "pitch": 1.1122348308563232, "yaw": -170.21771240234375 } }, "velocity": { "x": -5.896482467651367, "y": -1.0283775329589844, "z": 0.08795669674873352 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 3.324303388595581, "transform": { "location": { "x": 1225.23974609375, "y": 4094.03369140625, "z": 364.7162780761719 }, "rotation": { "roll": 0.005619635805487633, "pitch": 0.8406050205230713, "yaw": -170.30435180664062 } }, "velocity": { "x": -3.274543046951294, "y": -0.571128785610199, "z": 0.046608760952949524 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": -0.008211889304220676, "expert_target_speed": 2.8973576518341115, "target_point": [ 49.837141409506124, -0.08836862105282783 ], "target_point_next": [ 100.83703732998495, -0.17583567843793801 ] }, "45": { "acceleration": [ -1.1545419692993164, -0.17087340354919434, 0.0075435638427734375 ], "angular_velocity": [ 0.03350088372826576, -0.03559929504990578, -0.2852591276168823 ], "forward_vector": [ -0.9867939949035645, -0.1610138863325119, 0.017666494473814964 ], "right_vector": [ 0.16103655099868774, -0.9869484305381775, -0.00014114529767539352 ], "location": [ 1255.519775390625, 4098.9765625, 364.2687683105469 ], "rotation": [ 0.008088292554020882, 1.0122681856155396, -170.7327880859375 ], "velocity": [ -2.1048197746276855, -0.3355962634086609, 0.031197184696793556 ], "speed": 2.1314059058934776, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 18.355627059936523, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1237.4117431640625, 4095.98486328125, 364.54803466796875 ], "velocity": [ -6.733649730682373, -1.1460247039794922, 0.09840407967567444 ], "speed_kmh": 24.592267627445175, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.056171417236328, "transform": { "location": { "x": 1195.49169921875, "y": 4092.322998046875, "z": 365.1599426269531 }, "rotation": { "roll": -0.012542729265987873, "pitch": -0.8647428750991821, "yaw": 9.632246017456055 } }, "velocity": { "x": 7.944513320922852, "y": 1.3310519456863403, "z": -0.12207444757223129 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 1.5719070434570312, "transform": { "location": { "x": 1267.944580078125, "y": 4100.95849609375, "z": 364.0810546875 }, "rotation": { "roll": 0.017837870866060257, "pitch": 0.9295203685760498, "yaw": -169.69296264648438 } }, "velocity": { "x": -1.5484619140625, "y": -0.2694355249404907, "z": 0.02370198257267475 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.831185340881348, "transform": { "location": { "x": 1237.4117431640625, "y": 4095.98486328125, "z": 364.54803466796875 }, "rotation": { "roll": 0.026153473183512688, "pitch": 1.095569133758545, "yaw": -170.2617645263672 } }, "velocity": { "x": -6.733649730682373, "y": -1.1460247039794922, "z": 0.09840407967567444 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 4.093814373016357, "transform": { "location": { "x": 1224.32666015625, "y": 4093.875244140625, "z": 364.7294921875 }, "rotation": { "roll": 0.008019822649657726, "pitch": 0.8459939956665039, "yaw": -170.2126007080078 } }, "velocity": { "x": -4.03228759765625, "y": -0.7047264575958252, "z": 0.057727228850126266 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": -0.0011715813307091594, "expert_target_speed": 3.1926706922014456, "target_point": [ 49.33665991214982, -0.02973682657841703 ], "target_point_next": [ 100.33662257571548, -0.05876613434045197 ] }, "50": { "acceleration": [ -1.7917585372924805, -0.2802366018295288, 0.020623430609703064 ], "angular_velocity": [ 0.016070926561951637, 0.1913081705570221, -0.3065415024757385 ], "forward_vector": [ -0.9869972467422485, -0.1597282588481903, 0.017984014004468918 ], "right_vector": [ 0.15975241363048553, -0.9871571660041809, -9.47152657317929e-05 ], "location": [ 1254.949462890625, 4098.8857421875, 364.27740478515625 ], "rotation": [ 0.0054276627488434315, 1.030463695526123, -170.807373046875 ], "velocity": [ -2.4803552627563477, -0.3932873010635376, 0.03762468323111534 ], "speed": 2.5113416993035718, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 18.6002140045166, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1236.600830078125, 4095.85107421875, 364.5713195800781 ], "velocity": [ -0.2093711495399475, -0.028579730540513992, 0.001570310560055077 ], "speed_kmh": 0.760746912527303, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.13925552368164, "transform": { "location": { "x": 1197.488525390625, "y": 4092.657958984375, "z": 365.1294860839844 }, "rotation": { "roll": -0.006652821786701679, "pitch": -0.8612048625946045, "yaw": 9.52530574798584 } }, "velocity": { "x": 8.027170181274414, "y": 1.3406516313552856, "z": -0.12110517174005508 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 2.3889050483703613, "transform": { "location": { "x": 1267.4384765625, "y": 4100.87109375, "z": 364.0889892578125 }, "rotation": { "roll": 0.018428849056363106, "pitch": 1.0027878284454346, "yaw": -169.8628692626953 } }, "velocity": { "x": -2.3538262844085693, "y": -0.4062003195285797, "z": 0.037017907947301865 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.21131858229637146, "transform": { "location": { "x": 1236.600830078125, "y": 4095.85107421875, "z": 364.5713195800781 }, "rotation": { "roll": 0.002715539652854204, "pitch": -0.345552921295166, "yaw": -169.99267578125 } }, "velocity": { "x": -0.2093711495399475, "y": -0.028579730540513992, "z": 0.001570310560055077 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.030115127563477, "transform": { "location": { "x": 1223.200927734375, "y": 4093.679931640625, "z": 364.7457580566406 }, "rotation": { "roll": 0.010181397199630737, "pitch": 0.8524075746536255, "yaw": -170.18768310546875 } }, "velocity": { "x": -4.958031177520752, "y": -0.8454552292823792, "z": 0.07205682247877121 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": 0.0026167980395257473, "expert_target_speed": 3.518853745257109, "target_point": [ 48.75916001670967, 0.03594372700786774 ], "target_point_next": [ 99.75911725752377, 0.0733044140249337 ] }, "55": { "acceleration": [ -2.822580337524414, -0.42249858379364014, 0.037101805210113525 ], "angular_velocity": [ -0.03976181522011757, 0.33170023560523987, -0.3739292621612549 ], "forward_vector": [ -0.9872100353240967, -0.15827327966690063, 0.019129779189825058 ], "right_vector": [ 0.15830053389072418, -0.9873909950256348, -9.079358278540894e-05 ], "location": [ 1254.257568359375, 4098.77587890625, 364.2876892089844 ], "rotation": [ 0.00520304124802351, 1.09612238407135, -170.89163208007812 ], "velocity": [ -3.066352128982544, -0.48181241750717163, 0.045809097588062286 ], "speed": 3.103974643031074, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.95846939086914, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1236.542724609375, 4095.841064453125, 364.5666198730469 ], "velocity": [ -0.33618342876434326, -0.057375773787498474, 0.0061144158244132996 ], "speed_kmh": 1.2279571149007706, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.245999813079834, "transform": { "location": { "x": 1199.1866455078125, "y": 4092.941162109375, "z": 365.1025695800781 }, "rotation": { "roll": -0.006408694200217724, "pitch": -0.7036187052726746, "yaw": 9.467094421386719 } }, "velocity": { "x": 6.162033557891846, "y": 1.0165321826934814, "z": -0.0923173725605011 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.0018090243684127927, "transform": { "location": { "x": 1267.11962890625, "y": 4100.81591796875, "z": 364.0934143066406 }, "rotation": { "roll": 0.008995464071631432, "pitch": 0.5950870513916016, "yaw": -169.99937438964844 } }, "velocity": { "x": 0.00032115160138346255, "y": 1.3328911336429883e-05, "z": 0.0017802396323531866 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.34109920263290405, "transform": { "location": { "x": 1236.542724609375, "y": 4095.841064453125, "z": 364.5666198730469 }, "rotation": { "roll": 0.00026886313571594656, "pitch": 0.3305538296699524, "yaw": -170.00067138671875 } }, "velocity": { "x": -0.33618342876434326, "y": -0.057375773787498474, "z": 0.0061144158244132996 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.321963310241699, "transform": { "location": { "x": 1221.91064453125, "y": 4093.460205078125, "z": 364.76495361328125 }, "rotation": { "roll": 0.008297254331409931, "pitch": 0.8358443379402161, "yaw": -170.26687622070312 } }, "velocity": { "x": -5.246760845184326, "y": -0.8882403373718262, "z": 0.07631957530975342 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": 0.010334554128348827, "expert_target_speed": 4.060990319339284, "target_point": [ 48.05849260530799, 0.10869759624624553 ], "target_point_next": [ 99.05833975947372, 0.22105700854489996 ] }, "60": { "acceleration": [ -3.17960262298584, -0.4681682586669922, 0.06731569766998291 ], "angular_velocity": [ -0.05306016281247139, 0.2666650116443634, -0.45810118317604065 ], "forward_vector": [ -0.9874656200408936, -0.15647687017917633, 0.020655114203691483 ], "right_vector": [ 0.15650810301303864, -0.9876766800880432, -0.0001062484152498655 ], "location": [ 1253.38916015625, 4098.64013671875, 364.300537109375 ], "rotation": [ 0.006088885013014078, 1.183535099029541, -170.99560546875 ], "velocity": [ -3.8572323322296143, -0.5994526147842407, 0.058357153087854385 ], "speed": 3.9035348982901605, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.257070541381836, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1236.3675537109375, 4095.811279296875, 364.5630798339844 ], "velocity": [ -0.8272402882575989, -0.14020517468452454, 0.013556146062910557 ], "speed_kmh": 3.020929343742919, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.273113250732422, "transform": { "location": { "x": 1200.706787109375, "y": 4093.1923828125, "z": 365.0806884765625 }, "rotation": { "roll": -0.0033874521031975746, "pitch": -0.8261728286743164, "yaw": 9.398173332214355 } }, "velocity": { "x": 6.189011573791504, "y": 1.0195412635803223, "z": -0.09287891536951065 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 1.1208786964416504, "transform": { "location": { "x": 1266.96533203125, "y": 4100.7900390625, "z": 364.0963134765625 }, "rotation": { "roll": 0.014791522175073624, "pitch": 0.9235166311264038, "yaw": -169.9948272705078 } }, "velocity": { "x": -1.1047883033752441, "y": -0.18854276835918427, "z": 0.01623459719121456 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.8391470313072205, "transform": { "location": { "x": 1236.3675537109375, "y": 4095.811279296875, "z": 364.5630798339844 }, "rotation": { "roll": 0.015182035975158215, "pitch": 1.1004458665847778, "yaw": -170.01797485351562 } }, "velocity": { "x": -0.8272402882575989, "y": -0.14020517468452454, "z": 0.013556146062910557 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.420785903930664, "transform": { "location": { "x": 1220.4866943359375, "y": 4093.218994140625, "z": 364.7853698730469 }, "rotation": { "roll": 0.006027817726135254, "pitch": 0.8500033617019653, "yaw": -170.3477325439453 } }, "velocity": { "x": -6.330661296844482, "y": -1.0680930614471436, "z": 0.09162218123674393 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": 0.01940487138926983, "expert_target_speed": 4.778820378139535, "target_point": [ 47.17926491722818, 0.19776107312064184 ], "target_point_next": [ 98.1788241690413, 0.4026769256137879 ] }, "65": { "acceleration": [ -2.834911346435547, -0.3937089443206787, 0.03439754247665405 ], "angular_velocity": [ 0.016423026099801064, -0.02798471413552761, -0.5395811200141907 ], "forward_vector": [ -0.9877969622612, -0.15431292355060577, 0.021089302375912666 ], "right_vector": [ 0.15434414148330688, -0.9880171418190002, -0.00014882440154906362 ], "location": [ 1252.3260498046875, 4098.47509765625, 364.31658935546875 ], "rotation": [ 0.008528906852006912, 1.208417534828186, -171.12106323242188 ], "velocity": [ -4.599759578704834, -0.7050464749336243, 0.06945013254880905 ], "speed": 4.6534802797157315, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 16.537097930908203, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1236.016845703125, 4095.750732421875, 364.5680847167969 ], "velocity": [ -1.9495211839675903, -0.3305516839027405, 0.02898608148097992 ], "speed_kmh": 7.119210449329396, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.079671382904053, "transform": { "location": { "x": 1202.3511962890625, "y": 4093.463134765625, "z": 365.056640625 }, "rotation": { "roll": -0.003845208790153265, "pitch": -0.8921182751655579, "yaw": 9.388728141784668 } }, "velocity": { "x": 6.984957218170166, "y": 1.1493377685546875, "z": -0.10557811707258224 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 2.1380808353424072, "transform": { "location": { "x": 1266.549560546875, "y": 4100.71875, "z": 364.1029357910156 }, "rotation": { "roll": 0.01351820956915617, "pitch": 1.020997166633606, "yaw": -170.1165313720703 } }, "velocity": { "x": -2.1074063777923584, "y": -0.35945144295692444, "z": 0.03198050335049629 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.9775584936141968, "transform": { "location": { "x": 1236.016845703125, "y": 4095.750732421875, "z": 364.5680847167969 }, "rotation": { "roll": 0.016313714906573296, "pitch": 1.1341391801834106, "yaw": -170.11624145507812 } }, "velocity": { "x": -1.9495211839675903, "y": -0.3305516839027405, "z": 0.02898608148097992 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.3753156661987305, "transform": { "location": { "x": 1218.78759765625, "y": 4092.93212890625, "z": 364.80999755859375 }, "rotation": { "roll": 0.005758635234087706, "pitch": 0.8582610487937927, "yaw": -170.38919067382812 } }, "velocity": { "x": -7.272071361541748, "y": -1.2252053022384644, "z": 0.10548099130392075 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": 0.031962670385837555, "expert_target_speed": 5.434314879830611, "target_point": [ 46.10287472433994, 0.3020923445094006 ], "target_point_next": [ 97.10186302651826, 0.6186780992090952 ] }, "70": { "acceleration": [ 1.5243721008300781, 0.2685844898223877, -0.06415441632270813 ], "angular_velocity": [ 0.1255125105381012, -1.150874376296997, -0.3411896526813507 ], "forward_vector": [ -0.9881985783576965, -0.15186171233654022, 0.020039647817611694 ], "right_vector": [ 0.1518891155719757, -0.9883975386619568, -0.00015631677524652332 ], "location": [ 1251.096435546875, 4098.28759765625, 364.3357238769531 ], "rotation": [ 0.008958091028034687, 1.1482640504837036, -171.26339721679688 ], "velocity": [ -5.031686782836914, -0.7598466873168945, 0.0761522650718689 ], "speed": 5.088736470755992, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 16.011409759521484, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1235.3089599609375, 4095.630126953125, 364.5779724121094 ], "velocity": [ -3.646862506866455, -0.6164597868919373, 0.05361102148890495 ], "speed_kmh": 13.31635228919347, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.501927375793457, "transform": { "location": { "x": 1204.3546142578125, "y": 4093.79248046875, "z": 365.0272521972656 }, "rotation": { "roll": -0.003173841629177332, "pitch": -0.973930299282074, "yaw": 9.334844589233398 } }, "velocity": { "x": 8.389453887939453, "y": 1.3725974559783936, "z": -0.1257721185684204 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 1.818755865097046, "transform": { "location": { "x": 1266.0242919921875, "y": 4100.63037109375, "z": 364.11083984375 }, "rotation": { "roll": 0.011379790492355824, "pitch": 0.8781778812408447, "yaw": -170.3286895751953 } }, "velocity": { "x": -1.7932713031768799, "y": -0.30205103754997253, "z": 0.028563136234879494 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.698986768722534, "transform": { "location": { "x": 1235.3089599609375, "y": 4095.630126953125, "z": 364.5779724121094 }, "rotation": { "roll": 0.01439280342310667, "pitch": 1.20246160030365, "yaw": -170.2265625 } }, "velocity": { "x": -3.646862506866455, "y": -0.6164597868919373, "z": 0.05361102148890495 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.511392593383789, "transform": { "location": { "x": 1216.872802734375, "y": 4092.610595703125, "z": 364.837890625 }, "rotation": { "roll": 0.006698087323457003, "pitch": 0.8669148683547974, "yaw": -170.50051879882812 } }, "velocity": { "x": -8.395413398742676, "y": -1.394897222518921, "z": 0.12290582060813904 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": 0.04968683794140816, "expert_target_speed": 5.82084740565582, "target_point": [ 44.85815524745093, 0.41804818817095946 ], "target_point_next": [ 95.85619988191073, 0.8613064057446778 ] }, "75": { "acceleration": [ -1.7043018341064453, -0.26903748512268066, 0.11000245809555054 ], "angular_velocity": [ 0.03708347678184509, -0.22645053267478943, 0.5231916904449463 ], "forward_vector": [ -0.9879204034805298, -0.15402914583683014, 0.016979830339550972 ], "right_vector": [ 0.15405970811843872, -0.9880614280700684, 0.0004984717234037817 ], "location": [ 1249.845703125, 4098.09326171875, 364.3552551269531 ], "rotation": [ -0.028564445674419403, 0.9729194045066833, -171.13821411132812 ], "velocity": [ -5.050438404083252, -0.7987062931060791, 0.07637792080640793 ], "speed": 5.113204456706796, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 15.924076080322266, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1234.147216796875, 4095.43310546875, 364.5946350097656 ], "velocity": [ -5.304044246673584, -0.8952168822288513, 0.0794338583946228 ], "speed_kmh": 19.366731384951503, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.052140235900879, "transform": { "location": { "x": 1206.3992919921875, "y": 4094.126708984375, "z": 364.9953308105469 }, "rotation": { "roll": -0.0018615726148709655, "pitch": -0.824465274810791, "yaw": 9.297175407409668 } }, "velocity": { "x": 7.945535182952881, "y": 1.3005104064941406, "z": -0.1187475174665451 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 2.1083061695098877, "transform": { "location": { "x": 1265.568115234375, "y": 4100.5537109375, "z": 364.1180419921875 }, "rotation": { "roll": 0.006412257440388203, "pitch": 0.915142834186554, "yaw": -170.47198486328125 } }, "velocity": { "x": -2.0789854526519775, "y": -0.3489638864994049, "z": 0.03159623220562935 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.379647254943848, "transform": { "location": { "x": 1234.147216796875, "y": 4095.43310546875, "z": 364.5946350097656 }, "rotation": { "roll": 0.010871621780097485, "pitch": 1.2667609453201294, "yaw": -170.31727600097656 } }, "velocity": { "x": -5.304044246673584, "y": -0.8952168822288513, "z": 0.0794338583946228 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.378355026245117, "transform": { "location": { "x": 1214.7630615234375, "y": 4092.26025390625, "z": 364.8690490722656 }, "rotation": { "roll": 0.002070062793791294, "pitch": 0.8389930725097656, "yaw": -170.63035583496094 } }, "velocity": { "x": -8.265644073486328, "y": -1.3642141819000244, "z": 0.12196033447980881 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": 0.04804352670907974, "expert_target_speed": 5.876245864238858, "target_point": [ 43.593221612365674, 0.32069917663103986 ], "target_point_next": [ 94.59211298339045, 0.652532436287812 ] }, "80": { "acceleration": [ -2.160062789916992, -0.3976309299468994, 0.04570960998535156 ], "angular_velocity": [ -0.02946876920759678, 0.37026551365852356, 0.48500654101371765 ], "forward_vector": [ -0.987582266330719, -0.15632253885269165, 0.015637116506695747 ], "right_vector": [ 0.1563473790884018, -0.9877020716667175, 0.000371199450455606 ], "location": [ 1248.5970458984375, 4097.89501953125, 364.3742980957031 ], "rotation": [ -0.021270761266350746, 0.8959773182868958, -171.00538635253906 ], "velocity": [ -5.04945182800293, -0.8091052174568176, 0.0764792263507843 ], "speed": 5.113864978295572, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 16.099018096923828, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1232.72802734375, 4095.1943359375, 364.6170959472656 ], "velocity": [ -6.305766582489014, -1.050382137298584, 0.09223140776157379 ], "speed_kmh": 23.015940973998948, "color": "0,0,0" }, "other_vehicles": [ { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.892405986785889, "transform": { "location": { "x": 1208.3485107421875, "y": 4094.445556640625, "z": 364.9664611816406 }, "rotation": { "roll": -0.0011291500413790345, "pitch": -0.8160368204116821, "yaw": 9.282259941101074 } }, "velocity": { "x": 7.788536071777344, "y": 1.2710576057434082, "z": -0.11484769731760025 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 3.2070024013519287, "transform": { "location": { "x": 1264.9141845703125, "y": 4100.44384765625, "z": 364.1283874511719 }, "rotation": { "roll": 0.005830154754221439, "pitch": 1.0227866172790527, "yaw": -170.4845428466797 } }, "velocity": { "x": -3.1621806621551514, "y": -0.5320281982421875, "z": 0.04922964796423912 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 6.393316745758057, "transform": { "location": { "x": 1232.72802734375, "y": 4095.1943359375, "z": 364.6170959472656 }, "rotation": { "roll": 0.013606684282422066, "pitch": 1.082468867301941, "yaw": -170.40560913085938 } }, "velocity": { "x": -6.305766582489014, "y": -1.050382137298584, "z": 0.09223140776157379 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.010293960571289, "transform": { "location": { "x": 1212.7471923828125, "y": 4091.927734375, "z": 364.8988952636719 }, "rotation": { "roll": 0.0019503786461427808, "pitch": 0.8199914693832397, "yaw": -170.6976318359375 } }, "velocity": { "x": -7.903817653656006, "y": -1.2965008020401, "z": 0.11646758764982224 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": 0.05003395676612854, "expert_target_speed": 5.909049975238858, "target_point": [ 42.3295518109728, 0.2190656977573333 ], "target_point_next": [ 93.32907533897954, 0.4326875648178188 ] }, "85": { "acceleration": [ 2.0030689239501953, 0.3365135192871094, -0.01520201563835144 ], "angular_velocity": [ 0.19579051434993744, -0.5759313106536865, 0.3176003098487854 ], "forward_vector": [ -0.9873080253601074, -0.1580910086631775, 0.01516796462237835 ], "right_vector": [ 0.1581127792596817, -0.9874210357666016, 0.0002391244051977992 ], "location": [ 1247.3441162109375, 4097.69384765625, 364.3931579589844 ], "rotation": [ -0.013702396303415298, 0.8690937161445618, -170.90283203125 ], "velocity": [ -4.926511287689209, -0.7955272793769836, 0.07499437034130096 ], "speed": 4.9903283579301805, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 16.609100341796875, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1230.9732666015625, 4094.90185546875, 364.6426086425781 ], "velocity": [ -7.333319664001465, -1.213154673576355, 0.1068081259727478 ], "speed_kmh": 26.76152190623003, "color": "0,0,0" }, "other_vehicles": [ { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 1169.6527099609375, "y": 4088.056884765625, "z": 365.91204833984375 }, "rotation": { "roll": -6.670921148810294e-09, "pitch": -0.8957245945930481, "yaw": 9.234710693359375 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.152766227722168, "transform": { "location": { "x": 1210.3355712890625, "y": 4094.77001953125, "z": 364.93743896484375 }, "rotation": { "roll": 0.0001530820591142401, "pitch": -0.8402361869812012, "yaw": 9.267204284667969 } }, "velocity": { "x": 8.04554557800293, "y": 1.3126472234725952, "z": -0.1172151044011116 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 4.67888879776001, "transform": { "location": { "x": 1263.9290771484375, "y": 4100.27783203125, "z": 364.14373779296875 }, "rotation": { "roll": 0.0058776261284947395, "pitch": 1.092850685119629, "yaw": -170.46131896972656 } }, "velocity": { "x": -4.613400936126709, "y": -0.7767345905303955, "z": 0.07222268730401993 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.433756351470947, "transform": { "location": { "x": 1230.9732666015625, "y": 4094.90185546875, "z": 364.6426086425781 }, "rotation": { "roll": 0.012820512056350708, "pitch": 1.0777901411056519, "yaw": -170.56558227539062 } }, "velocity": { "x": -7.333319664001465, "y": -1.213154673576355, "z": 0.1068081259727478 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.927807331085205, "transform": { "location": { "x": 1210.787109375, "y": 4091.6064453125, "z": 364.9275817871094 }, "rotation": { "roll": 0.0009964506607502699, "pitch": 0.8256332278251648, "yaw": -170.7383270263672 } }, "velocity": { "x": -7.823410511016846, "y": -1.2771466970443726, "z": 0.11520148813724518 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": 0.04637143388390541, "expert_target_speed": 5.84383287481607, "target_point": [ 41.06089912907902, 0.1427515967693136 ], "target_point_next": [ 92.06072334197063, 0.26508164195335127 ] }, "90": { "acceleration": [ 0.992431640625, 0.1535642147064209, -0.027455836534500122 ], "angular_velocity": [ -0.015769924968481064, -0.055812545120716095, -0.753588855266571 ], "forward_vector": [ -0.9876661896705627, -0.15582053363323212, 0.015344016253948212 ], "right_vector": [ 0.15583351254463196, -0.9877832531929016, -0.0003526141808833927 ], "location": [ 1246.085693359375, 4097.49560546875, 364.41204833984375 ], "rotation": [ 0.020205682143568993, 0.8791819214820862, -171.0345458984375 ], "velocity": [ -5.048407077789307, -0.7800835967063904, 0.07611379772424698 ], "speed": 5.10832109806378, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.42658042907715, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1228.9100341796875, 4094.560546875, 364.672607421875 ], "velocity": [ -8.456609725952148, -1.39297616481781, 0.12272641807794571 ], "speed_kmh": 30.857206838072884, "color": "0,0,0" }, "other_vehicles": [ { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 1171.69921875, "y": 4088.3896484375, "z": 365.7093811035156 }, "rotation": { "roll": -6.670921148810294e-09, "pitch": -0.8957245945930481, "yaw": 9.234710693359375 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.996262073516846, "transform": { "location": { "x": 1212.32861328125, "y": 4095.094970703125, "z": 364.9081115722656 }, "rotation": { "roll": -0.0005798385245725513, "pitch": -0.8211662769317627, "yaw": 9.26123046875 } }, "velocity": { "x": 7.891506671905518, "y": 1.2849422693252563, "z": -0.11509394645690918 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 5.6803975105285645, "transform": { "location": { "x": 1262.63720703125, "y": 4100.06103515625, "z": 364.16400146484375 }, "rotation": { "roll": 0.007946447469294071, "pitch": 1.0461117029190063, "yaw": -170.44113159179688 } }, "velocity": { "x": -5.602565288543701, "y": -0.9330575466156006, "z": 0.08707095682621002 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.571446418762207, "transform": { "location": { "x": 1228.9100341796875, "y": 4094.560546875, "z": 364.672607421875 }, "rotation": { "roll": 0.005580891855061054, "pitch": 1.0852622985839844, "yaw": -170.64547729492188 } }, "velocity": { "x": -8.456609725952148, "y": -1.39297616481781, "z": 0.12272641807794571 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.961336135864258, "transform": { "location": { "x": 1208.828125, "y": 4091.286865234375, "z": 364.9563903808594 }, "rotation": { "roll": 0.0008981182472780347, "pitch": 0.8339728713035583, "yaw": -170.76043701171875 } }, "velocity": { "x": -7.857021808624268, "y": -1.2793183326721191, "z": 0.11585433781147003 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": 0.06262769550085068, "expert_target_speed": 5.997623973157469, "target_point": [ 39.786520575984355, 0.23743410750688465 ], "target_point_next": [ 90.78592881541111, 0.4770037510145677 ] }, "95": { "acceleration": [ 1.762094497680664, 0.3004574775695801, -0.020672529935836792 ], "angular_velocity": [ 0.06024209037423134, -0.5522630214691162, -0.5126912593841553 ], "forward_vector": [ -0.9880589246749878, -0.15336191654205322, 0.014820270240306854 ], "right_vector": [ 0.15337608754634857, -0.9881678819656372, -0.00018350087339058518 ], "location": [ 1244.8316650390625, 4097.30224609375, 364.4308776855469 ], "rotation": [ 0.010514980182051659, 0.8491700291633606, -171.17721557617188 ], "velocity": [ -4.926505088806152, -0.7537185549736023, 0.07443857192993164 ], "speed": 4.983828252472632, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 18.232637405395508, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1226.8629150390625, 4094.2236328125, 364.7052001953125 ], "velocity": [ -7.971205234527588, -1.3058207035064697, 0.1159173920750618 ], "speed_kmh": 29.08183243975821, "color": "0,0,0" }, "other_vehicles": [ { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 1173.7457275390625, "y": 4088.72216796875, "z": 365.5067138671875 }, "rotation": { "roll": -6.670921148810294e-09, "pitch": -0.8957245945930481, "yaw": 9.234710693359375 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.057252883911133, "transform": { "location": { "x": 1214.30615234375, "y": 4095.416259765625, "z": 364.8791198730469 }, "rotation": { "roll": -0.0010376027785241604, "pitch": -0.8258312940597534, "yaw": 9.248041152954102 } }, "velocity": { "x": 7.952126502990723, "y": 1.2920876741409302, "z": -0.11626323312520981 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 6.4634599685668945, "transform": { "location": { "x": 1261.20654296875, "y": 4099.8232421875, "z": 364.1860046386719 }, "rotation": { "roll": 0.006062933709472418, "pitch": 1.0129579305648804, "yaw": -170.4586944580078 } }, "velocity": { "x": -6.374841690063477, "y": -1.0620778799057007, "z": 0.0984792709350586 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.078286170959473, "transform": { "location": { "x": 1226.8629150390625, "y": 4094.2236328125, "z": 364.7052001953125 }, "rotation": { "roll": 0.006652915384620428, "pitch": 0.735474705696106, "yaw": -170.68887329101562 } }, "velocity": { "x": -7.971205234527588, "y": -1.3058207035064697, "z": 0.1159173920750618 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.02287483215332, "transform": { "location": { "x": 1206.8531494140625, "y": 4090.96533203125, "z": 364.9855651855469 }, "rotation": { "roll": -6.103150371927768e-05, "pitch": 0.849368155002594, "yaw": -170.76107788085938 } }, "velocity": { "x": -7.917740821838379, "y": -1.289155125617981, "z": 0.11823978275060654 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": 0.08142957836389542, "expert_target_speed": 5.9015349293656705, "target_point": [ 38.51695879234362, 0.3377731470829506 ], "target_point_next": [ 89.51561238734398, 0.7043326687939775 ] }, "100": { "acceleration": [ -4.079189300537109, -0.5616283416748047, 0.06646811962127686 ], "angular_velocity": [ -0.06937435269355774, 0.698275625705719, -0.43319377303123474 ], "forward_vector": [ -0.9883982539176941, -0.15113024413585663, 0.015118022449314594 ], "right_vector": [ 0.15114501118659973, -0.9885115623474121, -0.00016796664567664266 ], "location": [ 1243.57080078125, 4097.1103515625, 364.4496765136719 ], "rotation": [ 0.00962487980723381, 0.8662318587303162, -171.3065643310547 ], "velocity": [ -5.121416091918945, -0.771420955657959, 0.07731641829013824 ], "speed": 5.1791884574124705, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 18.944732666015625, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1224.9017333984375, 4093.90283203125, 364.73370361328125 ], "velocity": [ -7.811415672302246, -1.2759016752243042, 0.11395597457885742 ], "speed_kmh": 28.49670631974775, "color": "0,0,0" }, "other_vehicles": [ { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 6.728437900543213, "transform": { "location": { "x": 1175.6846923828125, "y": 4089.039306640625, "z": 365.4708557128906 }, "rotation": { "roll": -0.0213012658059597, "pitch": -1.189573049545288, "yaw": 9.301797866821289 } }, "velocity": { "x": 6.634909629821777, "y": 1.1095350980758667, "z": -0.13705763220787048 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.02691650390625, "transform": { "location": { "x": 1216.291748046875, "y": 4095.7392578125, "z": 364.8500671386719 }, "rotation": { "roll": 0.0002503285650163889, "pitch": -0.8282082080841064, "yaw": 9.24850845336914 } }, "velocity": { "x": 7.921736240386963, "y": 1.2901043891906738, "z": -0.1144893616437912 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.7858099937438965, "transform": { "location": { "x": 1259.377685546875, "y": 4099.51904296875, "z": 364.21417236328125 }, "rotation": { "roll": 0.006269858218729496, "pitch": 1.0694435834884644, "yaw": -170.5297393798828 } }, "velocity": { "x": -7.679916858673096, "y": -1.2741868495941162, "z": 0.11900733411312103 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.915751934051514, "transform": { "location": { "x": 1224.9017333984375, "y": 4093.90283203125, "z": 364.73370361328125 }, "rotation": { "roll": 0.003289831103757024, "pitch": 0.7269642949104309, "yaw": -170.71847534179688 } }, "velocity": { "x": -7.811415672302246, "y": -1.2759016752243042, "z": 0.11395597457885742 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.802630424499512, "transform": { "location": { "x": 1204.9000244140625, "y": 4090.6474609375, "z": 365.0149230957031 }, "rotation": { "roll": -0.0008239815942943096, "pitch": 0.8470731973648071, "yaw": -170.75926208496094 } }, "velocity": { "x": -7.700579643249512, "y": -1.2523467540740967, "z": 0.11723325401544571 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "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": 0.09589490294456482, "expert_target_speed": 6.092259109354715, "target_point": [ 37.24071513997447, 0.42562284210915813 ], "target_point_next": [ 88.23841111919145, 0.907327312874699 ] }, "105": { "acceleration": [ -0.16939163208007812, -0.07577061653137207, 0.016100704669952393 ], "angular_velocity": [ -0.07262182235717773, 0.18182702362537384, 0.38314780592918396 ], "forward_vector": [ -0.9883224368095398, -0.15164823830127716, 0.014884755946695805 ], "right_vector": [ 0.1516704261302948, -0.9884310364723206, 0.0003669428115244955 ], "location": [ 1242.3187255859375, 4096.91796875, 364.46832275390625 ], "rotation": [ -0.021026603877544403, 0.8528651595115662, -171.2765655517578 ], "velocity": [ -5.022106647491455, -0.7811671495437622, 0.07595161348581314 ], "speed": 5.082497151430996, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 19.68157196044922, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1222.924560546875, 4093.57958984375, 364.7613220214844 ], "velocity": [ -7.9989471435546875, -1.3048779964447021, 0.11569925397634506 ], "speed_kmh": 29.179826217376938, "color": "0,0,0" }, "other_vehicles": [ { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 6.962859630584717, "transform": { "location": { "x": 1177.3743896484375, "y": 4089.328125, "z": 365.4397888183594 }, "rotation": { "roll": -0.032470688223838806, "pitch": -0.9831851720809937, "yaw": 9.674769401550293 } }, "velocity": { "x": 6.85978889465332, "y": 1.187974214553833, "z": -0.11586012691259384 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.067444801330566, "transform": { "location": { "x": 1218.277587890625, "y": 4096.0625, "z": 364.8211364746094 }, "rotation": { "roll": 0.00021816806111019105, "pitch": -0.8181473612785339, "yaw": 9.24825668334961 } }, "velocity": { "x": 7.961758136749268, "y": 1.2964571714401245, "z": -0.11521164327859879 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 6.8845744132995605, "transform": { "location": { "x": 1257.556884765625, "y": 4099.21826171875, "z": 364.2417907714844 }, "rotation": { "roll": 0.005864948965609074, "pitch": 0.8136735558509827, "yaw": -170.63758850097656 } }, "velocity": { "x": -6.792370319366455, "y": -1.1181100606918335, "z": 0.10438282042741776 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.105506896972656, "transform": { "location": { "x": 1222.924560546875, "y": 4093.57958984375, "z": 364.7613220214844 }, "rotation": { "roll": 0.0018925905460491776, "pitch": 0.8763747215270996, "yaw": -170.7289276123047 } }, "velocity": { "x": -7.9989471435546875, "y": -1.3048779964447021, "z": 0.11569925397634506 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.343649387359619, "transform": { "location": { "x": 1203.1865234375, "y": 4090.368896484375, "z": 365.0410461425781 }, "rotation": { "roll": 0.0009643267258070409, "pitch": 0.8092681169509888, "yaw": -170.76031494140625 } }, "velocity": { "x": -6.260664939880371, "y": -1.0183429718017578, "z": 0.09456739574670792 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1243.57080078125, "y": 4097.1103515625, "z": 264.4496765136719 }, "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": 0.10293105989694595, "expert_target_speed": 6.023217758483271, "target_point": [ 35.97416420030605, 0.405845857334322 ], "target_point_next": [ 86.97210561131855, 0.8608252247079431 ] }, "110": { "acceleration": [ 0.5713939666748047, 0.07157087326049805, -0.09933233261108398 ], "angular_velocity": [ 0.05878886207938194, -0.0751892551779747, 0.38859274983406067 ], "forward_vector": [ -0.9880706071853638, -0.15329594910144806, 0.014723602682352066 ], "right_vector": [ 0.15331687033176422, -0.9881770014762878, 0.0002961114514619112 ], "location": [ 1241.0679931640625, 4096.72314453125, 364.4869689941406 ], "rotation": [ -0.01696777530014515, 0.8436307907104492, -171.18106079101562 ], "velocity": [ -4.960233688354492, -0.776924192905426, 0.06974390149116516 ], "speed": 5.020710053827901, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 20.450437545776367, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1220.91650390625, 4093.25244140625, 364.7904968261719 ], "velocity": [ -8.017586708068848, -1.304606318473816, 0.11571697145700455 ], "speed_kmh": 29.245892318729663, "color": "0,0,0" }, "other_vehicles": [ { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.19288969039917, "transform": { "location": { "x": 1271.22607421875, "y": 4101.53173828125, "z": 364.31353759765625 }, "rotation": { "roll": 0.0, "pitch": 0.882931649684906, "yaw": -170.76528930664062 } }, "velocity": { "x": -4.9377546310424805, "y": -0.8028091192245483, "z": -1.392903208732605 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 6.781512260437012, "transform": { "location": { "x": 1179.0662841796875, "y": 4089.623046875, "z": 365.4122314453125 }, "rotation": { "roll": -0.025360099971294403, "pitch": -0.914179801940918, "yaw": 9.875202178955078 } }, "velocity": { "x": 6.6788201332092285, "y": 1.1707260608673096, "z": -0.10802221298217773 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.010931968688965, "transform": { "location": { "x": 1220.260009765625, "y": 4096.3857421875, "z": 364.79229736328125 }, "rotation": { "roll": -0.00012206867540953681, "pitch": -0.8167129755020142, "yaw": 9.243229866027832 } }, "velocity": { "x": 7.906359672546387, "y": 1.285025715827942, "z": -0.11490362882614136 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 4.620490550994873, "transform": { "location": { "x": 1256.0789794921875, "y": 4098.9755859375, "z": 364.2640686035156 }, "rotation": { "roll": 0.008915337733924389, "pitch": 0.5842201709747314, "yaw": -170.5208740234375 } }, "velocity": { "x": -4.560456275939941, "y": -0.7395960092544556, "z": 0.06455562263727188 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.123859405517578, "transform": { "location": { "x": 1220.91650390625, "y": 4093.25244140625, "z": 364.7904968261719 }, "rotation": { "roll": 0.001342055737040937, "pitch": 0.8576599955558777, "yaw": -170.74496459960938 } }, "velocity": { "x": -8.017586708068848, "y": -1.304606318473816, "z": 0.11571697145700455 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.493394374847412, "transform": { "location": { "x": 1201.6263427734375, "y": 4090.115234375, "z": 365.0641784667969 }, "rotation": { "roll": -0.00021361332619562745, "pitch": 0.8441225290298462, "yaw": -170.7621307373047 } }, "velocity": { "x": -6.408624649047852, "y": -1.0413655042648315, "z": 0.0962369292974472 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1243.57080078125, "y": 4097.1103515625, "z": 264.4496765136719 }, "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": 0.10487993061542511, "expert_target_speed": 5.98110298025432, "target_point": [ 34.708975658128665, 0.34512429506799425 ], "target_point_next": [ 85.70760449258418, 0.7151126614283303 ] }, "115": { "acceleration": [ 0.08292198181152344, 0.04313945770263672, 0.0007666647434234619 ], "angular_velocity": [ 0.031769923865795135, 0.1462474912405014, 0.10397744178771973 ], "forward_vector": [ -0.9879055023193359, -0.1543542444705963, 0.014747441746294498 ], "right_vector": [ 0.15437360107898712, -0.9880125522613525, 0.00017574941739439964 ], "location": [ 1239.820068359375, 4096.52734375, 364.5055236816406 ], "rotation": [ -0.010070795193314552, 0.8449968099594116, -171.1196746826172 ], "velocity": [ -4.981098651885986, -0.7804421782493591, 0.07480929791927338 ], "speed": 5.041868083697847, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 21.199634552001953, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1218.930419921875, 4092.928955078125, 364.8197326660156 ], "velocity": [ -7.899088382720947, -1.286007046699524, 0.11482498049736023 ], "speed_kmh": 28.814080698008382, "color": "0,0,0" }, "other_vehicles": [ { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 4.840755939483643, "transform": { "location": { "x": 1270.0135498046875, "y": 4101.32861328125, "z": 364.0050048828125 }, "rotation": { "roll": -0.0238647423684597, "pitch": 0.8658152222633362, "yaw": -170.5656280517578 } }, "velocity": { "x": -4.769967079162598, "y": -0.8239668011665344, "z": 0.03757676109671593 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.692691802978516, "transform": { "location": { "x": 1180.5399169921875, "y": 4089.87548828125, "z": 365.38885498046875 }, "rotation": { "roll": -0.002685533370822668, "pitch": -1.0473958253860474, "yaw": 9.748759269714355 } }, "velocity": { "x": 5.6112799644470215, "y": 0.9553526043891907, "z": -0.08703082799911499 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.074326515197754, "transform": { "location": { "x": 1222.2452392578125, "y": 4096.708984375, "z": 364.7635192871094 }, "rotation": { "roll": 0.0010564593831077218, "pitch": -0.818932831287384, "yaw": 9.236055374145508 } }, "velocity": { "x": 7.9688334465026855, "y": 1.2958219051361084, "z": -0.11525867879390717 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 3.931337356567383, "transform": { "location": { "x": 1255.1536865234375, "y": 4098.82470703125, "z": 364.2781982421875 }, "rotation": { "roll": 0.00042581959860399365, "pitch": 0.7175045013427734, "yaw": -170.5484161376953 } }, "velocity": { "x": -3.878627300262451, "y": -0.6388758420944214, "z": 0.05916573479771614 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.003911018371582, "transform": { "location": { "x": 1218.930419921875, "y": 4092.928955078125, "z": 364.8197326660156 }, "rotation": { "roll": 0.0, "pitch": 0.8000200390815735, "yaw": -170.75970458984375 } }, "velocity": { "x": -7.899088382720947, "y": -1.286007046699524, "z": 0.11482498049736023 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.1756815910339355, "transform": { "location": { "x": 1199.92822265625, "y": 4089.83935546875, "z": 365.08929443359375 }, "rotation": { "roll": 0.0004075973411090672, "pitch": 0.871737003326416, "yaw": -170.76385498046875 } }, "velocity": { "x": -7.081847190856934, "y": -1.1517611742019653, "z": 0.10626371204853058 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1243.57080078125, "y": 4097.1103515625, "z": 264.4496765136719 }, "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": 0.11451837420463562, "expert_target_speed": 6.010564580410465, "target_point": [ 33.446133832716086, 0.3071086753470498 ], "target_point_next": [ 84.44512996912913, 0.622429882891586 ] }, "120": { "acceleration": [ -2.8485488891601562, -0.29866576194763184, 0.04180416464805603 ], "angular_velocity": [ -0.03474458307027817, 0.40708020329475403, -0.5566668510437012 ], "forward_vector": [ -0.9882198572158813, -0.15230250358581543, 0.015013844706118107 ], "right_vector": [ 0.1523151695728302, -0.9883319139480591, -0.00030174452695064247 ], "location": [ 1238.5672607421875, 4096.3349609375, 364.5240173339844 ], "rotation": [ 0.017290636897087097, 0.8602622747421265, -171.23861694335938 ], "velocity": [ -5.070852279663086, -0.7629913091659546, 0.07523468136787415 ], "speed": 5.127933168443899, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 21.941104888916016, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1216.94775390625, 4092.606201171875, 364.8485412597656 ], "velocity": [ -7.969847202301025, -1.2965664863586426, 0.11565759032964706 ], "speed_kmh": 29.07162736839272, "color": "0,0,0" }, "other_vehicles": [ { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 4.465250015258789, "transform": { "location": { "x": 1268.8414306640625, "y": 4101.125, "z": 364.0535583496094 }, "rotation": { "roll": -0.005523682571947575, "pitch": 0.8311656713485718, "yaw": -170.29931640625 } }, "velocity": { "x": -4.395315647125244, "y": -0.768936812877655, "z": 0.16850604116916656 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.876728534698486, "transform": { "location": { "x": 1181.970947265625, "y": 4090.11865234375, "z": 365.3664245605469 }, "rotation": { "roll": -0.0037231582682579756, "pitch": -0.9059767127037048, "yaw": 9.664064407348633 } }, "velocity": { "x": 5.793323993682861, "y": 0.9822769165039062, "z": -0.09202287346124649 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.009665489196777, "transform": { "location": { "x": 1224.229248046875, "y": 4097.03125, "z": 364.7347106933594 }, "rotation": { "roll": -0.00012206866085762158, "pitch": -0.8160641193389893, "yaw": 9.232465744018555 } }, "velocity": { "x": 7.905092716217041, "y": 1.284959077835083, "z": -0.11458524316549301 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 5.224920749664307, "transform": { "location": { "x": 1254.017822265625, "y": 4098.63818359375, "z": 364.2961120605469 }, "rotation": { "roll": 0.0035805038642138243, "pitch": 0.9927815794944763, "yaw": -170.62271118164062 } }, "velocity": { "x": -5.1552653312683105, "y": -0.8463147282600403, "z": 0.0823633149266243 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.075451850891113, "transform": { "location": { "x": 1216.94775390625, "y": 4092.606201171875, "z": 364.8485412597656 }, "rotation": { "roll": -0.00021361949620768428, "pitch": 0.8348129987716675, "yaw": -170.76055908203125 } }, "velocity": { "x": -7.969847202301025, "y": -1.2965664863586426, "z": 0.11565759032964706 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.8046369552612305, "transform": { "location": { "x": 1198.1832275390625, "y": 4089.55517578125, "z": 365.1159973144531 }, "rotation": { "roll": -0.0007019063923507929, "pitch": 0.8529266715049744, "yaw": -170.7610626220703 } }, "velocity": { "x": -6.715590476989746, "y": -1.0924103260040283, "z": 0.10280374437570572 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.4994812011719 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.13341858983039856, "expert_target_speed": 6.098872398854237, "target_point": [ 32.17793150505485, 0.37723654524381534 ], "target_point_next": [ 83.17616307527295, 0.7984385113012777 ] }, "125": { "acceleration": [ 0.462799072265625, 0.15244722366333008, -0.006516575813293457 ], "angular_velocity": [ 0.01779029332101345, -0.04306699335575104, -0.9751338958740234 ], "forward_vector": [ -0.9887929558753967, -0.14856745302677155, 0.014705603942275047 ], "right_vector": [ 0.1485796570777893, -0.9889004230499268, -0.0002639144076965749 ], "location": [ 1237.3201904296875, 4096.1484375, 364.54241943359375 ], "rotation": [ 0.015122816897928715, 0.8425993919372559, -171.4551544189453 ], "velocity": [ -4.978579521179199, -0.7314919829368591, 0.07423833757638931 ], "speed": 5.0320308593852845, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 59.62393569946289, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1178.4971923828125, 4086.450439453125, 365.4465637207031 ], "velocity": [ -7.352250576019287, -1.2433480024337769, -0.5190261602401733 ], "speed_kmh": 26.90886000219972, "color": "0,0,0" }, "other_vehicles": [ { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.114190101623535, "transform": { "location": { "x": 1267.6937255859375, "y": 4100.92431640625, "z": 364.0842590332031 }, "rotation": { "roll": 0.01738957315683365, "pitch": 0.965208113193512, "yaw": -170.18276977539062 } }, "velocity": { "x": -5.039768218994141, "y": -0.8626596927642822, "z": 0.10721160471439362 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.264564514160156, "transform": { "location": { "x": 1183.7489013671875, "y": 4090.419677734375, "z": 365.338623046875 }, "rotation": { "roll": -0.0038146963343024254, "pitch": -0.5400357246398926, "yaw": 9.61575984954834 } }, "velocity": { "x": 8.14797306060791, "y": 1.3773926496505737, "z": -0.12785394489765167 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.07081413269043, "transform": { "location": { "x": 1226.21337890625, "y": 4097.3544921875, "z": 364.7059631347656 }, "rotation": { "roll": -3.051217572647147e-05, "pitch": -0.8182088136672974, "yaw": 9.236495971679688 } }, "velocity": { "x": 7.9653496742248535, "y": 1.2953100204467773, "z": -0.11582242697477341 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 5.379672050476074, "transform": { "location": { "x": 1252.69140625, "y": 4098.42041015625, "z": 364.3162841796875 }, "rotation": { "roll": 0.002600135514512658, "pitch": 0.9288783669471741, "yaw": -170.66799926757812 } }, "velocity": { "x": -5.308408260345459, "y": -0.8691132664680481, "z": 0.07947942614555359 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.4746832847595215, "transform": { "location": { "x": 1178.4971923828125, "y": 4086.450439453125, "z": 365.4465637207031 }, "rotation": { "roll": -0.0311279259622097, "pitch": 0.8257015347480774, "yaw": -170.59458923339844 } }, "velocity": { "x": -7.352250576019287, "y": -1.2433480024337769, "z": -0.5190261602401733 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1161.044189453125, "y": 4083.61767578125, "z": 365.8591003417969 }, "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": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.15564745664596558, "expert_target_speed": 10.0, "target_point": [ 30.915333993388668, 0.49968812230578763 ], "target_point_next": [ 81.91160944426103, 1.1136299147856334 ] }, "130": { "acceleration": [ 0.6521701812744141, 0.12752771377563477, 0.023149549961090088 ], "angular_velocity": [ 0.010001438669860363, -0.13486367464065552, -0.45940420031547546 ], "forward_vector": [ -0.9892599582672119, -0.14546754956245422, 0.014279833063483238 ], "right_vector": [ 0.1454807072877884, -0.9893611073493958, -0.00011932569032069296 ], "location": [ 1236.0899658203125, 4095.96923828125, 364.5603332519531 ], "rotation": [ 0.006837556138634682, 0.8182019591331482, -171.63478088378906 ], "velocity": [ -4.866766929626465, -0.7039304375648499, 0.07171283662319183 ], "speed": 4.917411759069608, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 59.194583892822266, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1177.6942138671875, 4086.3154296875, 365.4198303222656 ], "velocity": [ -0.01022832840681076, -0.0027541732415556908, 0.07762237638235092 ], "speed_kmh": 0.28203047678896526, "color": "0,0,0" }, "other_vehicles": [ { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.428135871887207, "transform": { "location": { "x": 1266.3885498046875, "y": 4100.70166015625, "z": 364.10693359375 }, "rotation": { "roll": 0.014771321788430214, "pitch": 0.9610826969146729, "yaw": -170.35459899902344 } }, "velocity": { "x": -5.350723743438721, "y": -0.9095396399497986, "z": 0.08454935252666473 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.158005714416504, "transform": { "location": { "x": 1185.81494140625, "y": 4090.7646484375, "z": 365.30621337890625 }, "rotation": { "roll": 0.006756247952580452, "pitch": -0.8192743062973022, "yaw": 9.447463989257812 } }, "velocity": { "x": 8.046770095825195, "y": 1.336618423461914, "z": -0.1264629364013672 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.012984275817871, "transform": { "location": { "x": 1228.197509765625, "y": 4097.67822265625, "z": 364.6770935058594 }, "rotation": { "roll": -0.0005798317142762244, "pitch": -0.8202783465385437, "yaw": 9.23632526397705 } }, "velocity": { "x": 7.908286094665527, "y": 1.2859690189361572, "z": -0.11498799175024033 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.199192047119141, "transform": { "location": { "x": 1251.140869140625, "y": 4098.16748046875, "z": 364.3399658203125 }, "rotation": { "roll": 0.0023377249017357826, "pitch": 1.1026861667633057, "yaw": -170.71493530273438 } }, "velocity": { "x": -7.104366779327393, "y": -1.1596940755844116, "z": 0.1070147454738617 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.07834179699420929, "transform": { "location": { "x": 1177.6942138671875, "y": 4086.3154296875, "z": 365.4198303222656 }, "rotation": { "roll": 0.005176748614758253, "pitch": -0.5769597291946411, "yaw": -170.45135498046875 } }, "velocity": { "x": -0.01022832840681076, "y": -0.0027541732415556908, "z": 0.07762237638235092 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1161.044189453125, "y": 4083.61767578125, "z": 365.8591003417969 }, "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": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.18511676788330078, "expert_target_speed": 10.0, "target_point": [ 29.670409045174488, 0.598294554667385 ], "target_point_next": [ 80.66450903234818, 1.3721168106997936 ] }, "135": { "acceleration": [ 0.7703590393066406, 0.022689104080200195, -0.027495622634887695 ], "angular_velocity": [ -0.061076048761606216, -0.10802262276411057, 0.5328587293624878 ], "forward_vector": [ -0.9892644882202148, -0.1454954445362091, 0.013672640547156334 ], "right_vector": [ 0.14551511406898499, -0.9893559217453003, 0.00044949952280148864 ], "location": [ 1234.89892578125, 4095.794677734375, 364.5780334472656 ], "rotation": [ -0.0257568359375, 0.7834089994430542, -171.63323974609375 ], "velocity": [ -4.671225070953369, -0.698546290397644, 0.06978908181190491 ], "speed": 4.723167431219395, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 57.998130798339844, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1177.6875, 4086.31396484375, 365.4450378417969 ], "velocity": [ 0.011487816460430622, 0.002259467262774706, 0.10796353220939636 ], "speed_kmh": 0.39094739327413885, "color": "0,0,0" }, "other_vehicles": [ { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 6.842467784881592, "transform": { "location": { "x": 1264.955322265625, "y": 4100.4580078125, "z": 364.12945556640625 }, "rotation": { "roll": 0.01081749889999628, "pitch": 1.1418641805648804, "yaw": -170.3499298095703 } }, "velocity": { "x": -6.745231628417969, "y": -1.1446609497070312, "z": 0.10472005605697632 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.8273606300354, "transform": { "location": { "x": 1187.763671875, "y": 4091.08740234375, "z": 365.2757263183594 }, "rotation": { "roll": 0.0030287951231002808, "pitch": -0.9235507845878601, "yaw": 9.413763999938965 } }, "velocity": { "x": 7.721535682678223, "y": 1.2771267890930176, "z": -0.12005685269832611 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.071311950683594, "transform": { "location": { "x": 1230.18212890625, "y": 4098.0009765625, "z": 364.648193359375 }, "rotation": { "roll": -0.0004272375663276762, "pitch": -0.8215351104736328, "yaw": 9.233407020568848 } }, "velocity": { "x": 7.965919494628906, "y": 1.2948968410491943, "z": -0.11599164456129074 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.301617622375488, "transform": { "location": { "x": 1249.361572265625, "y": 4097.876953125, "z": 364.3666687011719 }, "rotation": { "roll": 0.002152698813006282, "pitch": 0.9384884238243103, "yaw": -170.73785400390625 } }, "velocity": { "x": -7.205627918243408, "y": -1.175072431564331, "z": 0.10840192437171936 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.10859649628400803, "transform": { "location": { "x": 1177.6875, "y": 4086.31396484375, "z": 365.4450378417969 }, "rotation": { "roll": 0.010051327757537365, "pitch": 0.3274187743663788, "yaw": -170.4518280029297 } }, "velocity": { "x": 0.011487816460430622, "y": 0.002259467262774706, "z": 0.10796353220939636 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1161.044189453125, "y": 4083.61767578125, "z": 365.8591003417969 }, "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": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.20003558695316315, "expert_target_speed": 10.0, "target_point": [ 28.466661451032646, 0.5980926582109118 ], "target_point_next": [ 79.46078245164145, 1.3705289086994554 ] }, "140": { "acceleration": [ 0.5365848541259766, 0.02934575080871582, -0.0048348307609558105 ], "angular_velocity": [ 0.0005150055512785912, 0.00935553852468729, 0.5859346985816956 ], "forward_vector": [ -0.9889059662818909, -0.14792630076408386, 0.013521735556423664 ], "right_vector": [ 0.14794708788394928, -0.9889951944351196, 0.0005437677609734237 ], "location": [ 1233.753662109375, 4095.621826171875, 364.5948791503906 ], "rotation": [ -0.031158447265625, 0.774761974811554, -171.49244689941406 ], "velocity": [ -4.507935523986816, -0.6889810562133789, 0.06714212149381638 ], "speed": 4.560282621093039, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 56.845703125, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1177.681884765625, 4086.312744140625, 365.44964599609375 ], "velocity": [ 0.001425226335413754, 0.0001822608319343999, -0.005477776285260916 ], "speed_kmh": 0.02038710295888017, "color": "0,0,0" }, "other_vehicles": [ { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.00164794921875, "transform": { "location": { "x": 1263.04150390625, "y": 4100.13330078125, "z": 364.1590881347656 }, "rotation": { "roll": 0.0076901353895664215, "pitch": 1.1408942937850952, "yaw": -170.37168884277344 } }, "velocity": { "x": -7.8880295753479, "y": -1.3380203247070312, "z": 0.12272325158119202 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.194404602050781, "transform": { "location": { "x": 1189.7454833984375, "y": 4091.41455078125, "z": 365.2450256347656 }, "rotation": { "roll": 0.00448172353208065, "pitch": -0.826261579990387, "yaw": 9.354162216186523 } }, "velocity": { "x": 8.084905624389648, "y": 1.3293981552124023, "z": -0.12357957661151886 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.012001037597656, "transform": { "location": { "x": 1232.166015625, "y": 4098.3232421875, "z": 364.61920166015625 }, "rotation": { "roll": -0.0008544956799596548, "pitch": -0.8241578936576843, "yaw": 9.226511001586914 } }, "velocity": { "x": 7.907560348510742, "y": 1.284253716468811, "z": -0.11552061140537262 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.646323204040527, "transform": { "location": { "x": 1247.48486328125, "y": 4097.5712890625, "z": 364.39483642578125 }, "rotation": { "roll": 0.0008411079179495573, "pitch": 0.9162766337394714, "yaw": -170.74705505371094 } }, "velocity": { "x": -7.546013832092285, "y": -1.2292084693908691, "z": 0.11392753571271896 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.005663084331899881, "transform": { "location": { "x": 1177.681884765625, "y": 4086.312744140625, "z": 365.44964599609375 }, "rotation": { "roll": 0.0048186215572059155, "pitch": 1.0552505254745483, "yaw": -170.45175170898438 } }, "velocity": { "x": 0.001425226335413754, "y": 0.0001822608319343999, "z": -0.005477776285260916 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1161.044189453125, "y": 4083.61767578125, "z": 365.8591003417969 }, "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": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.2003549337387085, "expert_target_speed": 10.0, "target_point": [ 27.30981187660744, 0.5266246855831134 ], "target_point_next": [ 78.30567692116088, 1.173758940195233 ] }, "145": { "acceleration": [ 0.27655601501464844, -0.00023245811462402344, 0.0009040534496307373 ], "angular_velocity": [ 0.006417522672563791, 0.06700295209884644, 0.3940562307834625 ], "forward_vector": [ -0.9885305166244507, -0.15039078891277313, 0.013784924522042274 ], "right_vector": [ 0.150411456823349, -0.9886233806610107, 0.00046867187484167516 ], "location": [ 1232.639404296875, 4095.450439453125, 364.6111145019531 ], "rotation": [ -0.026855474337935448, 0.7898430228233337, -171.34959411621094 ], "velocity": [ -4.417872905731201, -0.6865746378898621, 0.0642702654004097 ], "speed": 4.470904354220457, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 55.71772003173828, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1177.682373046875, 4086.31298828125, 365.4454345703125 ], "velocity": [ -0.0015795922372490168, -0.0002584469330031425, -0.01866721920669079 ], "speed_kmh": 0.0674485704263246, "color": "0,0,0" }, "other_vehicles": [ { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 6.912927150726318, "transform": { "location": { "x": 1261.2037353515625, "y": 4099.82568359375, "z": 364.18743896484375 }, "rotation": { "roll": 0.01319609023630619, "pitch": 0.769284188747406, "yaw": -170.49468994140625 } }, "velocity": { "x": -6.818017959594727, "y": -1.1366751194000244, "z": 0.1056426614522934 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.018942832946777, "transform": { "location": { "x": 1191.7506103515625, "y": 4091.74365234375, "z": 365.21435546875 }, "rotation": { "roll": 0.0012864845339208841, "pitch": -0.8880884647369385, "yaw": 9.335941314697266 } }, "velocity": { "x": 7.9121222496032715, "y": 1.2987191677093506, "z": -0.12291491031646729 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.071368217468262, "transform": { "location": { "x": 1234.1505126953125, "y": 4098.6455078125, "z": 364.5900573730469 }, "rotation": { "roll": 0.0002387748536420986, "pitch": -0.8305031657218933, "yaw": 9.225940704345703 } }, "velocity": { "x": 7.9661383628845215, "y": 1.2939480543136597, "z": -0.11540976911783218 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 6.422717094421387, "transform": { "location": { "x": 1245.7449951171875, "y": 4097.2880859375, "z": 364.4208068847656 }, "rotation": { "roll": -0.00030517482082359493, "pitch": 0.7206054329872131, "yaw": -170.76072692871094 } }, "velocity": { "x": -6.338694095611572, "y": -1.0311638116836548, "z": 0.09464481472969055 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.018735714256763458, "transform": { "location": { "x": 1177.682373046875, "y": 4086.31298828125, "z": 365.4454345703125 }, "rotation": { "roll": 0.004622620064765215, "pitch": 0.9752826690673828, "yaw": -170.45162963867188 } }, "velocity": { "x": -0.0015795922372490168, "y": -0.0002584469330031425, "z": -0.01866721920669079 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1161.044189453125, "y": 4083.61767578125, "z": 365.8591003417969 }, "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": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.20908255875110626, "expert_target_speed": 10.0, "target_point": [ 26.183680104341708, 0.4566823854388362 ], "target_point_next": [ 77.18100018047912, 0.9766626137096335 ] }, "150": { "acceleration": [ 0.019044876098632812, 0.01027226448059082, 0.014165043830871582 ], "angular_velocity": [ 0.05037980526685715, 0.0817427933216095, 0.2634239196777344 ], "forward_vector": [ -0.9883473515510559, -0.15155896544456482, 0.014119512401521206 ], "right_vector": [ 0.15157663822174072, -0.9884454607963562, 0.00018373971397522837 ], "location": [ 1231.540771484375, 4095.28125, 364.62713623046875 ], "rotation": [ -0.010528558865189552, 0.8090153932571411, -171.28184509277344 ], "velocity": [ -4.380993843078613, -0.6739899516105652, 0.06447019428014755 ], "speed": 4.432535336346991, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 54.6054801940918, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1177.6829833984375, 4086.31298828125, 365.4440612792969 ], "velocity": [ 8.154600800480694e-05, 2.436101385683287e-05, 0.0013592146569862962 ], "speed_kmh": 0.004902755522828464, "color": "0,0,0" }, "other_vehicles": [ { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1153.810791015625, "y": 4085.481201171875, "z": 365.9325256347656 }, "rotation": { "roll": 0.0, "pitch": -0.9378395676612854, "yaw": 9.234708786010742 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 3.2154459953308105, "transform": { "location": { "x": 1259.8226318359375, "y": 4099.5966796875, "z": 364.2083435058594 }, "rotation": { "roll": 0.012070909142494202, "pitch": 0.27477848529815674, "yaw": -170.38851928710938 } }, "velocity": { "x": -3.1728365421295166, "y": -0.519699215888977, "z": 0.04596738889813423 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.004950523376465, "transform": { "location": { "x": 1193.7178955078125, "y": 4092.066162109375, "z": 365.18408203125 }, "rotation": { "roll": 0.0005963645526207983, "pitch": -0.8805479407310486, "yaw": 9.290078163146973 } }, "velocity": { "x": 7.899018287658691, "y": 1.292388677597046, "z": -0.12032758444547653 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.012395858764648, "transform": { "location": { "x": 1236.134521484375, "y": 4098.9677734375, "z": 364.5609436035156 }, "rotation": { "roll": -0.00033570153755135834, "pitch": -0.8286726474761963, "yaw": 9.225953102111816 } }, "velocity": { "x": 7.907922744750977, "y": 1.2844631671905518, "z": -0.11573684215545654 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 1.7023077011108398, "transform": { "location": { "x": 1244.7830810546875, "y": 4097.13134765625, "z": 364.434326171875 }, "rotation": { "roll": -0.0007934573222883046, "pitch": 0.308458149433136, "yaw": -170.79580688476562 } }, "velocity": { "x": -1.6799466609954834, "y": -0.2737773656845093, "z": 0.026018256321549416 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.001361876493319869, "transform": { "location": { "x": 1177.6829833984375, "y": 4086.31298828125, "z": 365.4440612792969 }, "rotation": { "roll": 0.004512017592787743, "pitch": 0.8900418877601624, "yaw": -170.45159912109375 } }, "velocity": { "x": 8.154600800480694e-05, "y": 2.436101385683287e-05, "z": 0.0013592146569862962 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1161.044189453125, "y": 4083.61767578125, "z": 365.8591003417969 }, "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": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.21915024518966675, "expert_target_speed": 10.0, "target_point": [ 25.07261801316755, 0.425008146432468 ], "target_point_next": [ 76.07051733666184, 0.8846808305698861 ] }, "155": { "acceleration": [ -0.2258777618408203, -0.04240989685058594, -0.008835196495056152 ], "angular_velocity": [ 0.015078636817634106, 0.11542221158742905, -0.08837959915399551 ], "forward_vector": [ -0.988295316696167, -0.15185125172138214, 0.014615610241889954 ], "right_vector": [ 0.151869535446167, -0.9884005784988403, 0.00014273007400333881 ], "location": [ 1230.4417724609375, 4095.112060546875, 364.6430358886719 ], "rotation": [ -0.008178704418241978, 0.8374426364898682, -171.26483154296875 ], "velocity": [ -4.416889190673828, -0.6806715726852417, 0.06388004124164581 ], "speed": 4.469029415046751, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 53.49351501464844, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1177.6829833984375, 4086.31298828125, 365.4447326660156 ], "velocity": [ 0.00014118716353550553, 2.6666968551580794e-05, 0.0019516932079568505 ], "speed_kmh": 0.007045110156105162, "color": "0,0,0" }, "other_vehicles": [ { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1155.8658447265625, "y": 4085.815185546875, "z": 365.85986328125 }, "rotation": { "roll": 6.670977548139945e-09, "pitch": -0.9261736273765564, "yaw": 9.234705924987793 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 2.2975456714630127, "transform": { "location": { "x": 1259.2947998046875, "y": 4099.5087890625, "z": 364.2165222167969 }, "rotation": { "roll": 0.0018592913402244449, "pitch": 0.5612434148788452, "yaw": -170.40611267089844 } }, "velocity": { "x": -2.265998363494873, "y": -0.3776695132255554, "z": 0.03651348128914833 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.098963737487793, "transform": { "location": { "x": 1195.7099609375, "y": 4092.391845703125, "z": 365.15362548828125 }, "rotation": { "roll": 0.0015459514688700438, "pitch": -0.860562801361084, "yaw": 9.290255546569824 } }, "velocity": { "x": 7.99232816696167, "y": 1.3041361570358276, "z": -0.12303905189037323 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.071463584899902, "transform": { "location": { "x": 1238.119140625, "y": 4099.29052734375, "z": 364.5316467285156 }, "rotation": { "roll": 0.0010407072259113193, "pitch": -0.8350247144699097, "yaw": 9.2296781539917 } }, "velocity": { "x": 7.966091632843018, "y": 1.2944631576538086, "z": -0.11950726062059402 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.9869774580001831, "transform": { "location": { "x": 1244.6451416015625, "y": 4097.10888671875, "z": 364.43695068359375 }, "rotation": { "roll": -0.0007629388710483909, "pitch": 0.6482873558998108, "yaw": -170.8197784423828 } }, "velocity": { "x": -0.9741660952568054, "y": -0.1577429473400116, "z": 0.015557746402919292 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0019569750875234604, "transform": { "location": { "x": 1177.6829833984375, "y": 4086.31298828125, "z": 365.4447326660156 }, "rotation": { "roll": 0.0043369862250983715, "pitch": 0.9011341333389282, "yaw": -170.4515380859375 } }, "velocity": { "x": 0.00014118716353550553, "y": 2.6666968551580794e-05, "z": 0.0019516932079568505 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1161.044189453125, "y": 4083.61767578125, "z": 365.8591003417969 }, "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": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.2286921739578247, "expert_target_speed": 10.0, "target_point": [ 23.96079700424541, 0.417246820331612 ], "target_point_next": [ 74.95883042023375, 0.8617938791855444 ] }, "160": { "acceleration": [ -0.4575920104980469, -0.07658720016479492, 0.002117455005645752 ], "angular_velocity": [ -0.03874186798930168, 0.11157231032848358, 0.18601959943771362 ], "forward_vector": [ -0.9882336258888245, -0.15220259130001068, 0.015120763331651688 ], "right_vector": [ 0.1522226780653, -0.9883462190628052, 0.00017947655578609556 ], "location": [ 1229.325439453125, 4094.93994140625, 364.6592102050781 ], "rotation": [ -0.010284424759447575, 0.8663889765739441, -171.24440002441406 ], "velocity": [ -4.515858173370361, -0.6972898840904236, 0.06469220668077469 ], "speed": 4.569375036528599, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 52.36408233642578, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1177.682861328125, 4086.31298828125, 365.4447937011719 ], "velocity": [ 3.376439053681679e-05, -3.104284360233578e-06, 0.0002989100175909698 ], "speed_kmh": 0.001082977112263531, "color": "0,0,0" }, "other_vehicles": [ { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1157.92041015625, "y": 4086.149169921875, "z": 365.7776794433594 }, "rotation": { "roll": 6.670977548139945e-09, "pitch": -0.9261736273765564, "yaw": 9.234705924987793 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.3523200750350952, "transform": { "location": { "x": 1259.072998046875, "y": 4099.47216796875, "z": 364.2200012207031 }, "rotation": { "roll": 0.0014139979612082243, "pitch": 0.49247708916664124, "yaw": -170.48358154296875 } }, "velocity": { "x": -0.3476075232028961, "y": -0.057238321751356125, "z": 0.00471368758007884 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.017359733581543, "transform": { "location": { "x": 1197.697265625, "y": 4092.715576171875, "z": 365.1232604980469 }, "rotation": { "roll": 0.0005309757543727756, "pitch": -0.875363826751709, "yaw": 9.250144958496094 } }, "velocity": { "x": 7.911921977996826, "y": 1.2904831171035767, "z": -0.11919476091861725 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.012786865234375, "transform": { "location": { "x": 1240.1031494140625, "y": 4099.61279296875, "z": 364.5021667480469 }, "rotation": { "roll": 0.0012937186984345317, "pitch": -0.8376816511154175, "yaw": 9.22939682006836 } }, "velocity": { "x": 7.908191204071045, "y": 1.285021185874939, "z": -0.1182965338230133 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 1.9805591106414795, "transform": { "location": { "x": 1244.2730712890625, "y": 4097.0478515625, "z": 364.4429626464844 }, "rotation": { "roll": -0.00021362495317589492, "pitch": 0.9299165606498718, "yaw": -170.72666931152344 } }, "velocity": { "x": -1.9545339345932007, "y": -0.31864702701568604, "z": 0.029594363644719124 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.000300826970487833, "transform": { "location": { "x": 1177.682861328125, "y": 4086.31298828125, "z": 365.4447937011719 }, "rotation": { "roll": 0.004275016486644745, "pitch": 0.9044604301452637, "yaw": -170.45150756835938 } }, "velocity": { "x": 3.376439053681679e-05, "y": -3.104284360233578e-06, "z": 0.0002989100175909698 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.9701659679412842, "transform": { "location": { "x": 1161.0438232421875, "y": 4083.61767578125, "z": 365.75054931640625 }, "rotation": { "roll": 9.784987196326256e-05, "pitch": 0.9250739216804504, "yaw": -170.76527404785156 } }, "velocity": { "x": -0.015340534970164299, "y": -0.002609201706945896, "z": -0.9700411558151245 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.24035856127738953, "expert_target_speed": 10.0, "target_point": [ 22.83142035355402, 0.4085152765995881 ], "target_point_next": [ 73.82960908410793, 0.8348726250809708 ] }, "165": { "acceleration": [ -0.42713165283203125, -0.24558424949645996, 0.012605935335159302 ], "angular_velocity": [ -0.1308295577764511, -0.003298726864159107, 0.46520981192588806 ], "forward_vector": [ -0.9881206750869751, -0.1529061496257782, 0.015400753356516361 ], "right_vector": [ 0.15292921662330627, -0.9882370829582214, 0.00032539942185394466 ], "location": [ 1228.181396484375, 4094.7626953125, 364.67572021484375 ], "rotation": [ -0.018646225333213806, 0.8824330568313599, -171.2035675048828 ], "velocity": [ -4.629065990447998, -0.7280872464179993, 0.06572898477315903 ], "speed": 4.6859751367585005, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 51.20563507080078, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1177.68359375, 4086.31298828125, 365.4447937011719 ], "velocity": [ 0.02228596806526184, 0.004041118081659079, 0.0004708862106781453 ], "speed_kmh": 0.08155543497191524, "color": "0,0,0" }, "other_vehicles": [ { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.052620887756348, "transform": { "location": { "x": 1159.9381103515625, "y": 4086.477294921875, "z": 365.723388671875 }, "rotation": { "roll": 0.00013706237950827926, "pitch": -0.9382972121238708, "yaw": 9.233850479125977 } }, "velocity": { "x": 6.959575176239014, "y": 1.1311542987823486, "z": -0.15575538575649261 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 1.6210932731628418, "transform": { "location": { "x": 1258.811279296875, "y": 4099.4287109375, "z": 364.22412109375 }, "rotation": { "roll": 0.004229184705764055, "pitch": 0.9844487905502319, "yaw": -170.50015258789062 } }, "velocity": { "x": -1.598947286605835, "y": -0.2658667266368866, "z": 0.025013532489538193 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.050641059875488, "transform": { "location": { "x": 1199.6776123046875, "y": 4093.038330078125, "z": 365.09332275390625 }, "rotation": { "roll": -0.00012206975952722132, "pitch": -0.8514718413352966, "yaw": 9.273272514343262 } }, "velocity": { "x": 7.944870471954346, "y": 1.2952427864074707, "z": -0.11916715651750565 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.072364807128906, "transform": { "location": { "x": 1242.087646484375, "y": 4099.93505859375, "z": 364.4725646972656 }, "rotation": { "roll": 0.0007591397152282298, "pitch": -0.8400859236717224, "yaw": 9.231559753417969 } }, "velocity": { "x": 7.966665267944336, "y": 1.2965774536132812, "z": -0.1191786527633667 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 3.2378435134887695, "transform": { "location": { "x": 1243.63720703125, "y": 4096.9443359375, "z": 364.45257568359375 }, "rotation": { "roll": 0.0015890538925305009, "pitch": 1.0256962776184082, "yaw": -170.68008422851562 } }, "velocity": { "x": -3.195247173309326, "y": -0.5212783217430115, "z": 0.047905080020427704 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.02265428751707077, "transform": { "location": { "x": 1177.68359375, "y": 4086.31298828125, "z": 365.4447937011719 }, "rotation": { "roll": 0.0043345787562429905, "pitch": 0.9016941785812378, "yaw": -170.4512481689453 } }, "velocity": { "x": 0.02228596806526184, "y": 0.004041118081659079, "z": 0.0004708862106781453 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.038375161588191986, "transform": { "location": { "x": 1161.0428466796875, "y": 4083.61767578125, "z": 365.6848449707031 }, "rotation": { "roll": -0.0001220721023855731, "pitch": 0.9224921464920044, "yaw": -170.7652130126953 } }, "velocity": { "x": 0.0006719303200952709, "y": -0.00012052558304276317, "z": 0.03836908936500549 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.24284672737121582, "expert_target_speed": 10.0, "target_point": [ 21.67401372178784, 0.3920404046515742 ], "target_point_next": [ 72.67249324608886, 0.7820668079231279 ] }, "170": { "acceleration": [ -0.41892051696777344, -0.12795686721801758, 0.015349984169006348 ], "angular_velocity": [ -0.006707098800688982, -0.011547920294106007, 0.7199386954307556 ], "forward_vector": [ -0.9876576662063599, -0.15586431324481964, 0.015448669902980328 ], "right_vector": [ 0.15589043498039246, -0.9877742528915405, 0.000494223611894995 ], "location": [ 1227.010009765625, 4094.576171875, 364.69268798828125 ], "rotation": [ -0.028320306912064552, 0.885178804397583, -171.03199768066406 ], "velocity": [ -4.735866069793701, -0.7649199366569519, 0.0687677189707756 ], "speed": 4.797241909735063, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 50.0125846862793, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1177.6903076171875, 4086.314208984375, 365.44482421875 ], "velocity": [ 0.02102627232670784, 0.003417212050408125, -0.0004431819834280759 ], "speed_kmh": 0.0767043237273168, "color": "0,0,0" }, "other_vehicles": [ { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.764554977416992, "transform": { "location": { "x": 1161.629638671875, "y": 4086.758056640625, "z": 365.6849060058594 }, "rotation": { "roll": -0.008575447835028172, "pitch": -0.9395197629928589, "yaw": 9.463979721069336 } }, "velocity": { "x": 6.666644096374512, "y": 1.139042615890503, "z": -0.13282360136508942 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 3.02301025390625, "transform": { "location": { "x": 1258.235107421875, "y": 4099.3330078125, "z": 364.2330627441406 }, "rotation": { "roll": 0.00445575499907136, "pitch": 1.1240441799163818, "yaw": -170.5446014404297 } }, "velocity": { "x": -2.9819371700286865, "y": -0.49453434348106384, "z": 0.04557046666741371 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.05635929107666, "transform": { "location": { "x": 1201.666748046875, "y": 4093.3623046875, "z": 365.06353759765625 }, "rotation": { "roll": 0.0004994061891920865, "pitch": -0.8532135486602783, "yaw": 9.238927841186523 } }, "velocity": { "x": 7.950819492340088, "y": 1.2943170070648193, "z": -0.1189299076795578 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.012288093566895, "transform": { "location": { "x": 1244.0716552734375, "y": 4100.25830078125, "z": 364.4429626464844 }, "rotation": { "roll": -0.0009460438741371036, "pitch": -0.8442932963371277, "yaw": 9.233702659606934 } }, "velocity": { "x": 7.907621383666992, "y": 1.2854268550872803, "z": -0.11813291162252426 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 4.713244915008545, "transform": { "location": { "x": 1242.642578125, "y": 4096.7822265625, "z": 364.4674377441406 }, "rotation": { "roll": 0.0012518103467300534, "pitch": 1.0699081420898438, "yaw": -170.7171630859375 } }, "velocity": { "x": -4.651472091674805, "y": -0.7573525905609131, "z": 0.07002796232700348 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.021306756883859634, "transform": { "location": { "x": 1177.6903076171875, "y": 4086.314208984375, "z": 365.44482421875 }, "rotation": { "roll": 0.005155350547283888, "pitch": 0.8974048495292664, "yaw": -170.45228576660156 } }, "velocity": { "x": 0.02102627232670784, "y": 0.003417212050408125, "z": -0.0004431819834280759 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.030587434768676758, "transform": { "location": { "x": 1161.0430908203125, "y": 4083.61767578125, "z": 365.697265625 }, "rotation": { "roll": -0.00018310482846572995, "pitch": 0.9228404760360718, "yaw": -170.76512145996094 } }, "velocity": { "x": 0.0005085414741188288, "y": 9.69270768109709e-05, "z": 0.030583053827285767 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.23532815277576447, "expert_target_speed": 10.0, "target_point": [ 20.48894755671545, 0.3254905405122943 ], "target_point_next": [ 71.48836636991648, 0.5627985713859278 ] }, "175": { "acceleration": [ -0.3573322296142578, -0.10172486305236816, -0.005710572004318237 ], "angular_velocity": [ 0.04333233833312988, -0.01501820795238018, 0.5675218105316162 ], "forward_vector": [ -0.9872120022773743, -0.15866447985172272, 0.015429956838488579 ], "right_vector": [ 0.15868894755840302, -0.9873285889625549, 0.00036694001755677164 ], "location": [ 1225.8128662109375, 4094.3818359375, 364.7101135253906 ], "rotation": [ -0.021026616916060448, 0.884106457233429, -170.86952209472656 ], "velocity": [ -4.83499813079834, -0.791555643081665, 0.06905347853899002 ], "speed": 4.899363964936455, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 48.80238723754883, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1177.6876220703125, 4086.313720703125, 365.4446716308594 ], "velocity": [ -0.2225933074951172, -0.03720754012465477, 0.00237974151968956 ], "speed_kmh": 0.8124989033867281, "color": "0,0,0" }, "other_vehicles": [ { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.007057189941406, "transform": { "location": { "x": 1163.32763671875, "y": 4087.048583984375, "z": 365.655029296875 }, "rotation": { "roll": -0.013061515055596828, "pitch": -0.917389988899231, "yaw": 9.804143905639648 } }, "velocity": { "x": 6.901819229125977, "y": 1.2045899629592896, "z": -0.11270169913768768 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 4.585734844207764, "transform": { "location": { "x": 1257.279541015625, "y": 4099.17578125, "z": 364.2476806640625 }, "rotation": { "roll": 0.0053664022125303745, "pitch": 1.1821280717849731, "yaw": -170.60003662109375 } }, "velocity": { "x": -4.524430274963379, "y": -0.7441278696060181, "z": 0.0690637156367302 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.036541938781738, "transform": { "location": { "x": 1203.6507568359375, "y": 4093.685302734375, "z": 365.0337829589844 }, "rotation": { "roll": 0.0006851300713606179, "pitch": -0.8580629825592041, "yaw": 9.253986358642578 } }, "velocity": { "x": 7.931380271911621, "y": 1.290425181388855, "z": -0.11841055005788803 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.07217025756836, "transform": { "location": { "x": 1246.0562744140625, "y": 4100.5810546875, "z": 364.4132080078125 }, "rotation": { "roll": -0.00012206953397253528, "pitch": -0.8447235822677612, "yaw": 9.229837417602539 } }, "velocity": { "x": 7.966797351837158, "y": 1.2945401668548584, "z": -0.11930545419454575 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 5.382166862487793, "transform": { "location": { "x": 1241.35302734375, "y": 4096.572265625, "z": 364.48681640625 }, "rotation": { "roll": 8.079334656940773e-05, "pitch": 0.9747021198272705, "yaw": -170.7691650390625 } }, "velocity": { "x": -5.311652660369873, "y": -0.8646873235702515, "z": 0.07987998425960541 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.22569413483142853, "transform": { "location": { "x": 1177.6876220703125, "y": 4086.313720703125, "z": 365.4446716308594 }, "rotation": { "roll": 0.004437306430190802, "pitch": 0.9251354336738586, "yaw": -170.4760284423828 } }, "velocity": { "x": -0.2225933074951172, "y": -0.03720754012465477, "z": 0.00237974151968956 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0012468721251934767, "transform": { "location": { "x": 1161.043212890625, "y": 4083.61767578125, "z": 365.7002258300781 }, "rotation": { "roll": 0.00040383392479270697, "pitch": 0.9228063225746155, "yaw": -170.7650604248047 } }, "velocity": { "x": 5.809113281429745e-05, "y": -6.632987060584128e-05, "z": 0.001243750681169331 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.23211389780044556, "expert_target_speed": 5.966658489710769, "target_point": [ 19.276975128544656, 0.2654804723369817 ], "target_point_next": [ 70.27686183192968, 0.35816611141508226 ] }, "180": { "acceleration": [ -0.15961647033691406, -0.0769805908203125, 0.016187280416488647 ], "angular_velocity": [ -0.016089612618088722, -0.04811311885714531, 0.5706732273101807 ], "forward_vector": [ -0.9868191480636597, -0.16111241281032562, 0.015191089361906052 ], "right_vector": [ 0.161135733127594, -0.9869322180747986, 0.00031581451185047626 ], "location": [ 1224.5970458984375, 4094.181884765625, 364.72772216796875 ], "rotation": [ -0.01809692569077015, 0.8704187870025635, -170.72744750976562 ], "velocity": [ -4.882823467254639, -0.8114867806434631, 0.07104163616895676 ], "speed": 4.949795531891363, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 47.72757339477539, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1177.532470703125, 4086.286865234375, 365.4457702636719 ], "velocity": [ -0.976996898651123, -0.1704815775156021, 0.01495284028351307 ], "speed_kmh": 3.570739982692033, "color": "0,0,0" }, "other_vehicles": [ { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.815417766571045, "transform": { "location": { "x": 1165.0289306640625, "y": 4087.34326171875, "z": 365.6275329589844 }, "rotation": { "roll": -0.01019287109375, "pitch": -0.9157780408859253, "yaw": 9.940701484680176 } }, "velocity": { "x": 6.715603351593018, "y": 1.1571197509765625, "z": -0.1080121099948883 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.351350784301758, "transform": { "location": { "x": 1256.006591796875, "y": 4098.966796875, "z": 364.26751708984375 }, "rotation": { "roll": 0.0027155692223459482, "pitch": 1.0652294158935547, "yaw": -170.60543823242188 } }, "velocity": { "x": -5.2799072265625, "y": -0.867777407169342, "z": 0.08059133589267731 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.051621437072754, "transform": { "location": { "x": 1205.6356201171875, "y": 4094.00732421875, "z": 365.0039367675781 }, "rotation": { "roll": -0.0003967286320403218, "pitch": -0.8541834354400635, "yaw": 9.228017807006836 } }, "velocity": { "x": 7.94626522064209, "y": 1.292706847190857, "z": -0.11994782835245132 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.01329517364502, "transform": { "location": { "x": 1248.0404052734375, "y": 4100.9033203125, "z": 364.38336181640625 }, "rotation": { "roll": -0.000823975307866931, "pitch": -0.8491495847702026, "yaw": 9.225564002990723 } }, "velocity": { "x": 7.9087748527526855, "y": 1.2845230102539062, "z": -0.11910261958837509 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 6.56441068649292, "transform": { "location": { "x": 1239.957275390625, "y": 4096.3447265625, "z": 364.5075988769531 }, "rotation": { "roll": 0.0017319441540166736, "pitch": 1.0263383388519287, "yaw": -170.68167114257812 } }, "velocity": { "x": -6.4781694412231445, "y": -1.0561081171035767, "z": 0.0971861258149147 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.9918721914291382, "transform": { "location": { "x": 1177.532470703125, "y": 4086.286865234375, "z": 365.4457702636719 }, "rotation": { "roll": 0.0012572649866342545, "pitch": 1.0803719758987427, "yaw": -170.46963500976562 } }, "velocity": { "x": -0.976996898651123, "y": -0.1704815775156021, "z": 0.01495284028351307 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0015690234722569585, "transform": { "location": { "x": 1161.043212890625, "y": 4083.61767578125, "z": 365.7002258300781 }, "rotation": { "roll": 0.00040383392479270697, "pitch": 0.9228063225746155, "yaw": -170.7650604248047 } }, "velocity": { "x": 2.406835392321227e-06, "y": -2.157837116101291e-06, "z": -0.0015690200962126255 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.22571997344493866, "expert_target_speed": 6.012954828833878, "target_point": [ 18.04542269106591, 0.21624029697433444 ], "target_point_next": [ 69.04538241881315, 0.18244452860208682 ] }, "185": { "acceleration": [ -0.3012561798095703, -0.04005789756774902, 0.08163034915924072 ], "angular_velocity": [ 0.10020630061626434, 0.02743331901729107, 1.1809426546096802 ], "forward_vector": [ -0.9859502911567688, -0.16635705530643463, 0.01507952157407999 ], "right_vector": [ 0.16638578474521637, -0.9860605001449585, 0.0006619865889661014 ], "location": [ 1223.370849609375, 4093.9716796875, 364.7456970214844 ], "rotation": [ -0.0379333570599556, 0.8640257120132446, -170.42282104492188 ], "velocity": [ -4.932742595672607, -0.8622049689292908, 0.07649843394756317 ], "speed": 5.00752902374108, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 46.82561111450195, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1177.1953125, 4086.228271484375, 365.4508056640625 ], "velocity": [ -1.7957158088684082, -0.3109557628631592, 0.029156263917684555 ], "speed_kmh": 6.561624750900317, "color": "0,0,0" }, "other_vehicles": [ { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.312867641448975, "transform": { "location": { "x": 1166.6383056640625, "y": 4087.6201171875, "z": 365.6018371582031 }, "rotation": { "roll": -0.006774902809411287, "pitch": -0.9250739216804504, "yaw": 9.812759399414062 } }, "velocity": { "x": 6.222309589385986, "y": 1.0607478618621826, "z": -0.09987006336450577 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.848320960998535, "transform": { "location": { "x": 1254.657470703125, "y": 4098.7451171875, "z": 364.2879333496094 }, "rotation": { "roll": 0.0026778606697916985, "pitch": 0.965208113193512, "yaw": -170.6992645263672 } }, "velocity": { "x": -5.770724773406982, "y": -0.945533275604248, "z": 0.08694715052843094 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.045462608337402, "transform": { "location": { "x": 1207.6219482421875, "y": 4094.330322265625, "z": 364.9744567871094 }, "rotation": { "roll": -0.0010070757707580924, "pitch": -0.846157968044281, "yaw": 9.251006126403809 } }, "velocity": { "x": 7.940019130706787, "y": 1.2928253412246704, "z": -0.11901106685400009 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 8.07226848602295, "transform": { "location": { "x": 1250.0250244140625, "y": 4101.2255859375, "z": 364.3533935546875 }, "rotation": { "roll": -0.00021361390827223659, "pitch": -0.8546478748321533, "yaw": 9.225777626037598 } }, "velocity": { "x": 7.966963768005371, "y": 1.2940363883972168, "z": -0.12031527608633041 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.736727714538574, "transform": { "location": { "x": 1238.1300048828125, "y": 4096.04736328125, "z": 364.53466796875 }, "rotation": { "roll": 0.0013345913030207157, "pitch": 1.032348871231079, "yaw": -170.7557373046875 } }, "velocity": { "x": -7.635481834411621, "y": -1.24248468875885, "z": 0.11224755644798279 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.8226735591888428, "transform": { "location": { "x": 1177.1953125, "y": 4086.228271484375, "z": 365.4508056640625 }, "rotation": { "roll": 0.0021709066350013018, "pitch": 1.1096735000610352, "yaw": -170.43873596191406 } }, "velocity": { "x": -1.7957158088684082, "y": -0.3109557628631592, "z": 0.029156263917684555 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0011797479819506407, "transform": { "location": { "x": 1161.0430908203125, "y": 4083.61767578125, "z": 365.7000427246094 }, "rotation": { "roll": 0.00044246562174521387, "pitch": 0.9234551787376404, "yaw": -170.7649383544922 } }, "velocity": { "x": 8.432120012002997e-06, "y": -1.1586211030589766e-06, "z": -0.0011797173647210002 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.19433194398880005, "expert_target_speed": 6.066211759649888, "target_point": [ 16.802238210200287, 0.11702937942420855 ], "target_point_next": [ 67.80129743251388, -0.18791786970451696 ] }, "190": { "acceleration": [ -2.034749984741211, -0.3226745128631592, 0.04842787981033325 ], "angular_velocity": [ 0.0799780935049057, 0.21226182579994202, 1.1571518182754517 ], "forward_vector": [ -0.9855961799621582, -0.16845719516277313, 0.014912647195160389 ], "right_vector": [ 0.16847780346870422, -0.9857054948806763, 0.00012675228936132044 ], "location": [ 1222.136962890625, 4093.758544921875, 364.7637939453125 ], "rotation": [ -0.007263179402798414, 0.8544634580612183, -170.30078125 ], "velocity": [ -4.9729533195495605, -0.8630897402763367, 0.07416068762540817 ], "speed": 5.047295178428667, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 46.23762130737305, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1176.5406494140625, 4086.115966796875, 365.4602966308594 ], "velocity": [ -3.333123207092285, -0.5778066515922546, 0.053270529955625534 ], "speed_kmh": 12.17971491135057, "color": "0,0,0" }, "other_vehicles": [ { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.785035610198975, "transform": { "location": { "x": 1168.234375, "y": 4087.892822265625, "z": 365.575927734375 }, "rotation": { "roll": -0.00512695824727416, "pitch": -0.8921797275543213, "yaw": 9.674196243286133 } }, "velocity": { "x": 6.688764572143555, "y": 1.1339129209518433, "z": -0.10665387660264969 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.16607666015625, "transform": { "location": { "x": 1252.8668212890625, "y": 4098.45166015625, "z": 364.3152160644531 }, "rotation": { "roll": 0.0024323882535099983, "pitch": 1.2450956106185913, "yaw": -170.7261199951172 } }, "velocity": { "x": -8.058341026306152, "y": -1.3163604736328125, "z": 0.12305428832769394 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.04395580291748, "transform": { "location": { "x": 1209.6065673828125, "y": 4094.65234375, "z": 364.9450378417969 }, "rotation": { "roll": 0.0012210392160341144, "pitch": -0.835168182849884, "yaw": 9.233026504516602 } }, "velocity": { "x": 7.938597679138184, "y": 1.2924065589904785, "z": -0.11652365326881409 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.975997447967529, "transform": { "location": { "x": 1252.0074462890625, "y": 4101.54736328125, "z": 364.3233642578125 }, "rotation": { "roll": 0.0002985736064147204, "pitch": -0.8515947461128235, "yaw": 9.2257080078125 } }, "velocity": { "x": 7.871943950653076, "y": 1.2786126136779785, "z": -0.11911260336637497 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 6.6792168617248535, "transform": { "location": { "x": 1236.336181640625, "y": 4095.755859375, "z": 364.5608215332031 }, "rotation": { "roll": 0.0004178521048743278, "pitch": 0.7589842677116394, "yaw": -170.74269104003906 } }, "velocity": { "x": -6.591901779174805, "y": -1.0720672607421875, "z": 0.0971461683511734 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.383254289627075, "transform": { "location": { "x": 1176.5406494140625, "y": 4086.115966796875, "z": 365.4602966308594 }, "rotation": { "roll": 0.0016902300994843245, "pitch": 1.2341468334197998, "yaw": -170.31419372558594 } }, "velocity": { "x": -3.333123207092285, "y": -0.5778066515922546, "z": 0.053270529955625534 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.00019050871196668595, "transform": { "location": { "x": 1161.0430908203125, "y": 4083.61767578125, "z": 365.7000427246094 }, "rotation": { "roll": 0.0008579137502238154, "pitch": 0.923366367816925, "yaw": -170.76487731933594 } }, "velocity": { "x": 2.2949576305109076e-05, "y": 6.183199275255902e-06, "z": -0.00018902025476563722 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.1853237748146057, "expert_target_speed": 6.104394931872348, "target_point": [ 15.550291998656709, 0.07903943915619083 ], "target_point_next": [ 66.54858617918823, -0.33451232515454876 ] }, "195": { "acceleration": [ -2.179594039916992, -0.20392537117004395, 0.05278661847114563 ], "angular_velocity": [ 0.12452782690525055, 0.6011109948158264, -0.37208184599876404 ], "forward_vector": [ -0.9856294989585876, -0.16825781762599945, 0.014963424764573574 ], "right_vector": [ 0.16827160120010376, -0.985740602016449, -0.00034177309134975076 ], "location": [ 1220.8946533203125, 4093.545166015625, 364.78179931640625 ], "rotation": [ 0.019584348425269127, 0.8573731184005737, -170.31236267089844 ], "velocity": [ -5.065456867218018, -0.8564070463180542, 0.07461123913526535 ], "speed": 5.137342338469317, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 45.880699157714844, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1175.6502685546875, 4085.962158203125, 365.47613525390625 ], "velocity": [ -3.3131654262542725, -0.5756701827049255, 0.0523601695895195 ], "speed_kmh": 12.10756744490434, "color": "0,0,0" }, "other_vehicles": [ { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.6614460945129395, "transform": { "location": { "x": 1170.0379638671875, "y": 4088.197998046875, "z": 365.54693603515625 }, "rotation": { "roll": -0.0031738257966935635, "pitch": -0.8741753697395325, "yaw": 9.563977241516113 } }, "velocity": { "x": 7.555422306060791, "y": 1.2645082473754883, "z": -0.11987902969121933 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.4217681884765625, "transform": { "location": { "x": 1250.9154052734375, "y": 4098.1328125, "z": 364.34466552734375 }, "rotation": { "roll": 0.0017714953282848, "pitch": 0.8505565524101257, "yaw": -170.7109375 } }, "velocity": { "x": -7.323938846588135, "y": -1.1959370374679565, "z": 0.11092357337474823 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.050131797790527, "transform": { "location": { "x": 1211.592041015625, "y": 4094.975341796875, "z": 364.91595458984375 }, "rotation": { "roll": -0.000183093870873563, "pitch": -0.8355096578598022, "yaw": 9.257290840148926 } }, "velocity": { "x": 7.9447922706604, "y": 1.2928340435028076, "z": -0.11606669425964355 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.837995529174805, "transform": { "location": { "x": 1253.95166015625, "y": 4101.86376953125, "z": 364.2936706542969 }, "rotation": { "roll": 0.0009755417122505605, "pitch": -0.8420393466949463, "yaw": 9.228580474853516 } }, "velocity": { "x": 7.735635757446289, "y": 1.2569934129714966, "z": -0.11866427958011627 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 1.7639448642730713, "transform": { "location": { "x": 1235.2470703125, "y": 4095.5830078125, "z": 364.5758056640625 }, "rotation": { "roll": 0.04035196080803871, "pitch": 0.23711000382900238, "yaw": -169.78872680664062 } }, "velocity": { "x": -1.7484327554702759, "y": -0.2320152223110199, "z": 0.025565652176737785 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.363213300704956, "transform": { "location": { "x": 1175.6502685546875, "y": 4085.962158203125, "z": 365.47613525390625 }, "rotation": { "roll": 0.005917815025895834, "pitch": 1.0232442617416382, "yaw": -170.2450408935547 } }, "velocity": { "x": -3.3131654262542725, "y": -0.5756701827049255, "z": 0.0523601695895195 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.989246968354564e-05, "transform": { "location": { "x": 1161.043212890625, "y": 4083.61767578125, "z": 365.7000427246094 }, "rotation": { "roll": 0.0004713574890047312, "pitch": 0.9228677749633789, "yaw": -170.7648468017578 } }, "velocity": { "x": 2.6339441319578327e-05, "y": 3.845691480819369e-06, "z": -1.3601627870230004e-05 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.17259444296360016, "expert_target_speed": 6.186167726942584, "target_point": [ 14.289775054954644, 0.08089169675349561 ], "target_point_next": [ 65.28815161235156, -0.32237359526805953 ] }, "200": { "acceleration": [ 0.7526016235351562, 0.20856380462646484, 0.002027153968811035 ], "angular_velocity": [ 0.048222508281469345, -0.35989871621131897, -4.103590488433838 ], "forward_vector": [ -0.986158549785614, -0.165176123380661, 0.014426326379179955 ], "right_vector": [ 0.16518639028072357, -0.9862622022628784, -0.00048638618318364024 ], "location": [ 1219.633056640625, 4093.333740234375, 364.80023193359375 ], "rotation": [ 0.027870777994394302, 0.8265962600708008, -170.4915313720703 ], "velocity": [ -4.947279930114746, -0.8189935684204102, 0.07213909178972244 ], "speed": 5.014611567412791, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 45.03364562988281, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1175.2242431640625, 4085.889892578125, 365.4898681640625 ], "velocity": [ -0.004435879644006491, -0.0002452407206874341, -0.0010337968124076724 ], "speed_kmh": 0.016420857337908445, "color": "0,0,0" }, "other_vehicles": [ { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.754166603088379, "transform": { "location": { "x": 1172.0780029296875, "y": 4088.5390625, "z": 365.514404296875 }, "rotation": { "roll": -0.00048828034778125584, "pitch": -0.8617854118347168, "yaw": 9.421220779418945 } }, "velocity": { "x": 8.635449409484863, "y": 1.4302871227264404, "z": -0.13685987889766693 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.654566287994385, "transform": { "location": { "x": 1249.2666015625, "y": 4097.86376953125, "z": 364.36962890625 }, "rotation": { "roll": 0.0013478003675118089, "pitch": 0.578496515750885, "yaw": -170.69000244140625 } }, "velocity": { "x": -5.579865455627441, "y": -0.9122321009635925, "z": 0.08399030566215515 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.044858932495117, "transform": { "location": { "x": 1213.57763671875, "y": 4095.29833984375, "z": 364.8868713378906 }, "rotation": { "roll": 0.0009468892239965498, "pitch": -0.8368210792541504, "yaw": 9.23406982421875 } }, "velocity": { "x": 7.93947696685791, "y": 1.2926987409591675, "z": -0.11572116613388062 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.111313343048096, "transform": { "location": { "x": 1255.62939453125, "y": 4102.13623046875, "z": 364.26702880859375 }, "rotation": { "roll": 0.0007514404715038836, "pitch": -0.7221080660820007, "yaw": 9.215964317321777 } }, "velocity": { "x": 6.031376361846924, "y": 0.980956494808197, "z": -0.09147652238607407 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 1.0464848279953003, "transform": { "location": { "x": 1235.100830078125, "y": 4095.560302734375, "z": 364.5785217285156 }, "rotation": { "roll": 0.008567512966692448, "pitch": 0.6078048348426819, "yaw": -169.6481170654297 } }, "velocity": { "x": -1.031559705734253, "y": -0.17533405125141144, "z": 0.01652517355978489 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.004561349283903837, "transform": { "location": { "x": 1175.2242431640625, "y": 4085.889892578125, "z": 365.4898681640625 }, "rotation": { "roll": 0.013875079341232777, "pitch": 0.16795434057712555, "yaw": -170.06874084472656 } }, "velocity": { "x": -0.004435879644006491, "y": -0.0002452407206874341, "z": -0.0010337968124076724 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0003418539999984205, "transform": { "location": { "x": 1161.043212890625, "y": 4083.61767578125, "z": 365.7000427246094 }, "rotation": { "roll": -0.0001525917905382812, "pitch": 0.9225535988807678, "yaw": -170.7647705078125 } }, "velocity": { "x": 1.9118189811706543e-05, "y": 4.0395184441877063e-07, "z": -0.0003413187514524907 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.17569823563098907, "expert_target_speed": 6.066967093677761, "target_point": [ 13.010262241232386, 0.12546318741887896 ], "target_point_next": [ 64.00965049690487, -0.11832346721036124 ] }, "205": { "acceleration": [ 0.7180023193359375, 0.08992195129394531, -0.028096288442611694 ], "angular_velocity": [ 0.019745435565710068, -0.44880253076553345, -3.237567186355591 ], "forward_vector": [ -0.986356258392334, -0.1638592928647995, 0.015857866033911705 ], "right_vector": [ 0.16388027369976044, -0.9864802360534668, 2.3432889065588824e-05 ], "location": [ 1218.324462890625, 4093.1142578125, 364.8189697265625 ], "rotation": [ -0.0013427744852378964, 0.9086268544197083, -170.5678253173828 ], "velocity": [ -5.254237174987793, -0.886530876159668, 0.07612957060337067 ], "speed": 5.328503099877876, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 43.88984680175781, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1175.043701171875, 4085.8583984375, 365.48748779296875 ], "velocity": [ -1.0998389720916748, -0.19228018820285797, 0.017584791406989098 ], "speed_kmh": 4.019971332750757, "color": "0,0,0" }, "other_vehicles": [ { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.263040542602539, "transform": { "location": { "x": 1174.1707763671875, "y": 4088.885498046875, "z": 365.4815673828125 }, "rotation": { "roll": -0.0005798307829536498, "pitch": -0.9017624855041504, "yaw": 9.334335327148438 } }, "velocity": { "x": 8.152027130126953, "y": 1.3436663150787354, "z": -0.12982530891895294 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0056410301476716995, "transform": { "location": { "x": 1248.7115478515625, "y": 4097.77294921875, "z": 364.37744140625 }, "rotation": { "roll": 0.0004411419213283807, "pitch": -0.12869441509246826, "yaw": -170.70358276367188 } }, "velocity": { "x": 0.005552975460886955, "y": 0.000882927153725177, "z": -0.00045400825911201537 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.045636177062988, "transform": { "location": { "x": 1215.5625, "y": 4095.620849609375, "z": 364.85772705078125 }, "rotation": { "roll": -0.0014343323418870568, "pitch": -0.836185872554779, "yaw": 9.258162498474121 } }, "velocity": { "x": 7.940105438232422, "y": 1.2936880588531494, "z": -0.11553601920604706 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.231942176818848, "transform": { "location": { "x": 1257.1334228515625, "y": 4102.38037109375, "z": 364.2449951171875 }, "rotation": { "roll": -0.0010376016143709421, "pitch": -0.8464652895927429, "yaw": 9.257669448852539 } }, "velocity": { "x": 6.150247573852539, "y": 1.0013595819473267, "z": -0.09401437640190125 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 2.1249144077301025, "transform": { "location": { "x": 1234.7064208984375, "y": 4095.494384765625, "z": 364.5847473144531 }, "rotation": { "roll": 0.015721388161182404, "pitch": 0.923448383808136, "yaw": -169.91519165039062 } }, "velocity": { "x": -2.095209836959839, "y": -0.3527032136917114, "z": 0.030938919633626938 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.1166586875915527, "transform": { "location": { "x": 1175.043701171875, "y": 4085.8583984375, "z": 365.48748779296875 }, "rotation": { "roll": 0.010484169237315655, "pitch": 0.8057710528373718, "yaw": -170.0705108642578 } }, "velocity": { "x": -1.0998389720916748, "y": -0.19228018820285797, "z": 0.017584791406989098 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0002734284498728812, "transform": { "location": { "x": 1161.043212890625, "y": 4083.61767578125, "z": 365.7000427246094 }, "rotation": { "roll": 0.00013477362517733127, "pitch": 0.9225877523422241, "yaw": -170.7647247314453 } }, "velocity": { "x": 3.631949221016839e-05, "y": -4.172865374130197e-06, "z": 0.00027097342535853386 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.1711185872554779, "expert_target_speed": 6.3524480903549145, "target_point": [ 11.683212900878493, 0.14072716854115108 ], "target_point_next": [ 62.68288060403158, -0.03513798936269019 ] }, "210": { "acceleration": [ -0.1613903045654297, -0.077972412109375, -0.005873888731002808 ], "angular_velocity": [ 0.03470325469970703, 0.0212009996175766, 3.9483301639556885 ], "forward_vector": [ -0.9859400987625122, -0.1664358377456665, 0.014874624088406563 ], "right_vector": [ 0.1664556860923767, -0.9860489368438721, 9.74610447883606e-05 ], "location": [ 1217.0208740234375, 4092.89404296875, 364.8382873535156 ], "rotation": [ -0.005584724247455597, 0.8522846102714539, -170.41827392578125 ], "velocity": [ -5.216141700744629, -0.8902421593666077, 0.0764804407954216 ], "speed": 5.291565490907279, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 43.011436462402344, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1174.6065673828125, 4085.78173828125, 365.49066162109375 ], "velocity": [ -2.3213982582092285, -0.4050248861312866, 0.03666830062866211 ], "speed_kmh": 8.484306899359577, "color": "0,0,0" }, "other_vehicles": [ { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.114270210266113, "transform": { "location": { "x": 1176.180908203125, "y": 4089.2158203125, "z": 365.44970703125 }, "rotation": { "roll": 0.0007810533279553056, "pitch": -0.9044740796089172, "yaw": 9.28575611114502 } }, "velocity": { "x": 8.006695747375488, "y": 1.3107041120529175, "z": -0.12747962772846222 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 1.748291254043579, "transform": { "location": { "x": 1248.4464111328125, "y": 4097.7294921875, "z": 364.3817443847656 }, "rotation": { "roll": 0.002644570544362068, "pitch": 0.8340684771537781, "yaw": -170.66383361816406 } }, "velocity": { "x": -1.7251898050308228, "y": -0.28205999732017517, "z": 0.0261576846241951 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.04731273651123, "transform": { "location": { "x": 1217.5479736328125, "y": 4095.944091796875, "z": 364.8287658691406 }, "rotation": { "roll": -0.0002746637328527868, "pitch": -0.8298064470291138, "yaw": 9.235380172729492 } }, "velocity": { "x": 7.941872596740723, "y": 1.2932920455932617, "z": -0.11531554907560349 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.698744773864746, "transform": { "location": { "x": 1258.750732421875, "y": 4102.64404296875, "z": 364.2205810546875 }, "rotation": { "roll": -6.670938912378688e-09, "pitch": -0.9050819873809814, "yaw": 9.212420463562012 } }, "velocity": { "x": 6.611393928527832, "y": 1.073571801185608, "z": -0.10049501806497574 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 3.2428667545318604, "transform": { "location": { "x": 1234.04931640625, "y": 4095.384521484375, "z": 364.5945739746094 }, "rotation": { "roll": 0.01386703085154295, "pitch": 0.9957800507545471, "yaw": -170.2003631591797 } }, "velocity": { "x": -3.198547601699829, "y": -0.5322131514549255, "z": 0.047193240374326706 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.3567519187927246, "transform": { "location": { "x": 1174.6065673828125, "y": 4085.78173828125, "z": 365.49066162109375 }, "rotation": { "roll": 0.012233945541083813, "pitch": 1.2769789695739746, "yaw": -170.14112854003906 } }, "velocity": { "x": -2.3213982582092285, "y": -0.4050248861312866, "z": 0.03666830062866211 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0008889721939340234, "transform": { "location": { "x": 1161.043212890625, "y": 4083.61767578125, "z": 365.7000427246094 }, "rotation": { "roll": 4.243404691806063e-05, "pitch": 0.9226492047309875, "yaw": -170.76466369628906 } }, "velocity": { "x": 1.2612789760169107e-05, "y": -5.698744189430727e-06, "z": -0.0008888644515536726 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.15741963684558868, "expert_target_speed": 6.320211769311176, "target_point": [ 10.361481999177395, 0.11007619651570688 ], "target_point_next": [ 61.36051692363366, -0.19890788056759767 ] }, "215": { "acceleration": [ -7.7587890625, -1.4317703247070312, 0.09930342435836792 ], "angular_velocity": [ -0.4549763798713684, 2.0307836532592773, -0.4383452832698822 ], "forward_vector": [ -0.9854883551597595, -0.16900421679019928, 0.01581614837050438 ], "right_vector": [ 0.16902798414230347, -0.9856112003326416, 0.0001677580876275897 ], "location": [ 1215.703857421875, 4092.66845703125, 364.8573303222656 ], "rotation": [ -0.009613032452762127, 0.9062362909317017, -170.2688446044922 ], "velocity": [ -5.613125324249268, -0.9728059768676758, 0.08173583447933197 ], "speed": 5.696799748486682, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 41.97349548339844, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1174.312744140625, 4085.73046875, 365.50115966796875 ], "velocity": [ -0.005366798490285873, -0.0007781717577017844, 0.0014980619307607412 ], "speed_kmh": 0.020253725055210302, "color": "0,0,0" }, "other_vehicles": [ { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 1138.0494384765625, "y": 4082.918701171875, "z": 366.3216857910156 }, "rotation": { "roll": 6.671067698249544e-09, "pitch": -0.9727759957313538, "yaw": 9.234708786010742 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.817354679107666, "transform": { "location": { "x": 1177.9842529296875, "y": 4089.5107421875, "z": 365.4215087890625 }, "rotation": { "roll": -0.00012206561223138124, "pitch": -0.927881121635437, "yaw": 9.26020622253418 } }, "velocity": { "x": 6.72760534286499, "y": 1.0975022315979004, "z": -0.10554324090480804 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 1.1483122110366821, "transform": { "location": { "x": 1247.9449462890625, "y": 4097.64794921875, "z": 364.3893127441406 }, "rotation": { "roll": 0.0021090488880872726, "pitch": 0.8175394535064697, "yaw": -170.66224670410156 } }, "velocity": { "x": -1.133294939994812, "y": -0.18431758880615234, "z": 0.017043104395270348 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.046422958374023, "transform": { "location": { "x": 1219.5333251953125, "y": 4096.26708984375, "z": 364.79986572265625 }, "rotation": { "roll": 0.00017807702533900738, "pitch": -0.8265962600708008, "yaw": 9.2559814453125 } }, "velocity": { "x": 7.941170692443848, "y": 1.2920608520507812, "z": -0.11538189649581909 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 7.728411674499512, "transform": { "location": { "x": 1260.6324462890625, "y": 4102.95068359375, "z": 364.1920471191406 }, "rotation": { "roll": -0.00012207968393340707, "pitch": -0.94866544008255, "yaw": 9.20053768157959 } }, "velocity": { "x": 7.627359867095947, "y": 1.2401140928268433, "z": -0.11765909194946289 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 4.719569206237793, "transform": { "location": { "x": 1233.0535888671875, "y": 4095.22021484375, "z": 364.6092224121094 }, "rotation": { "roll": 0.01159240398555994, "pitch": 1.0501415729522705, "yaw": -170.44393920898438 } }, "velocity": { "x": -4.656322002410889, "y": -0.7670822739601135, "z": 0.06770557165145874 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.005626034922897816, "transform": { "location": { "x": 1174.312744140625, "y": 4085.73046875, "z": 365.50115966796875 }, "rotation": { "roll": 0.011080154217779636, "pitch": 0.5373377799987793, "yaw": -170.14378356933594 } }, "velocity": { "x": -0.005366798490285873, "y": -0.0007781717577017844, "z": 0.0014980619307607412 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.00023920736566651613, "transform": { "location": { "x": 1161.0430908203125, "y": 4083.61767578125, "z": 365.7000427246094 }, "rotation": { "roll": -0.0001830981782404706, "pitch": 0.923448383808136, "yaw": -170.7646026611328 } }, "velocity": { "x": 2.2843629267299548e-05, "y": 1.2514032277977094e-05, "z": -0.00023778504692018032 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.14134356379508972, "expert_target_speed": 6.675044392241706, "target_point": [ 9.025537106187116, 0.08332351980297847 ], "target_point_next": [ 60.023592840520486, -0.35865578245871355 ] }, "220": { "acceleration": [ -1.8742847442626953, -0.3321385383605957, 0.03365442156791687 ], "angular_velocity": [ 0.035207007080316544, -0.14136874675750732, 3.3994054794311523 ], "forward_vector": [ -0.9848775863647461, -0.17210713028907776, 0.019884943962097168 ], "right_vector": [ 0.1721460074186325, -0.9850714206695557, 0.0002476249064784497 ], "location": [ 1214.1610107421875, 4092.398681640625, 364.8791198730469 ], "rotation": [ -0.014190669171512127, 1.139398455619812, -170.08766174316406 ], "velocity": [ -6.447362899780273, -1.1348429918289185, 0.09453023970127106 ], "speed": 6.5464766842604964, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 40.61622619628906, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1174.1065673828125, 4085.695556640625, 365.5017395019531 ], "velocity": [ -1.1973035335540771, -0.20211553573608398, 0.018684063106775284 ], "speed_kmh": 4.371792828986341, "color": "0,0,0" }, "other_vehicles": [ { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 1140.081787109375, "y": 4083.2490234375, "z": 366.0621337890625 }, "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": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.1772308349609375, "transform": { "location": { "x": 1179.68994140625, "y": 4089.7890625, "z": 365.3942565917969 }, "rotation": { "roll": -0.0003051671083085239, "pitch": -0.8852539658546448, "yaw": 9.249055862426758 } }, "velocity": { "x": 7.0829758644104, "y": 1.1539878845214844, "z": -0.1113991066813469 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.9488286972045898, "transform": { "location": { "x": 1247.843505859375, "y": 4097.63134765625, "z": 364.39093017578125 }, "rotation": { "roll": 0.0032091166358441114, "pitch": 0.8118362426757812, "yaw": -170.63575744628906 } }, "velocity": { "x": -0.9362684488296509, "y": -0.1532566398382187, "z": 0.013773717917501926 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.04514217376709, "transform": { "location": { "x": 1221.5184326171875, "y": 4096.58984375, "z": 364.7711181640625 }, "rotation": { "roll": 0.0002509889018256217, "pitch": -0.8273612856864929, "yaw": 9.234485626220703 } }, "velocity": { "x": 7.939754486083984, "y": 1.2928041219711304, "z": -0.1152162179350853 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.817927837371826, "transform": { "location": { "x": 1262.42919921875, "y": 4103.2421875, "z": 364.1630859375 }, "rotation": { "roll": -0.000976558483671397, "pitch": -0.7992823719978333, "yaw": 9.216089248657227 } }, "velocity": { "x": 6.729070663452148, "y": 1.0921359062194824, "z": -0.10480847209692001 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 5.676297187805176, "transform": { "location": { "x": 1231.750732421875, "y": 4095.0068359375, "z": 364.6285705566406 }, "rotation": { "roll": 0.0072747147642076015, "pitch": 0.9980067014694214, "yaw": -170.6614532470703 } }, "velocity": { "x": -5.601682186126709, "y": -0.9137275218963623, "z": 0.08131419867277145 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.2143868207931519, "transform": { "location": { "x": 1174.1065673828125, "y": 4085.695556640625, "z": 365.5017395019531 }, "rotation": { "roll": 0.012913775630295277, "pitch": 0.8993651270866394, "yaw": -170.17269897460938 } }, "velocity": { "x": -1.1973035335540771, "y": -0.20211553573608398, "z": 0.018684063106775284 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0, "transform": { "location": { "x": 1161.0430908203125, "y": 4083.61767578125, "z": 365.7000427246094 }, "rotation": { "roll": -0.0006103539490140975, "pitch": 0.9234551787376404, "yaw": -170.7646026611328 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.11184307187795639, "expert_target_speed": 7.398073541888621, "target_point": [ 58.45590353311676, -0.5486323784580964 ], "target_point_next": [ 95.45337410200587, -0.9862027917451464 ] }, "225": { "acceleration": [ -1.4830875396728516, -0.22284746170043945, 0.016767531633377075 ], "angular_velocity": [ 0.0834680050611496, -0.23405656218528748, -3.0617899894714355 ], "forward_vector": [ -0.9848888516426086, -0.17216937243938446, 0.018750999122858047 ], "right_vector": [ 0.17219668626785278, -0.9850625991821289, -0.00016045883239712566 ], "location": [ 1212.4971923828125, 4092.106689453125, 364.90386962890625 ], "rotation": [ 0.009195230901241302, 1.0744160413742065, -170.08425903320312 ], "velocity": [ -6.841329574584961, -1.194651484489441, 0.10014528036117554 ], "speed": 6.9448529514658315, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 39.34609603881836, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1173.6932373046875, 4085.62548828125, 365.50592041015625 ], "velocity": [ -2.2180163860321045, -0.3740825951099396, 0.03463202342391014 ], "speed_kmh": 8.098586959722006, "color": "0,0,0" }, "other_vehicles": [ { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 1142.137451171875, "y": 4083.5830078125, "z": 366.0211181640625 }, "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": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.74357795715332, "transform": { "location": { "x": 1181.55859375, "y": 4090.09326171875, "z": 365.3648376464844 }, "rotation": { "roll": -0.0008850176236592233, "pitch": -0.8670651316642761, "yaw": 9.244580268859863 } }, "velocity": { "x": 7.642032146453857, "y": 1.2442556619644165, "z": -0.1190645769238472 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 2.187913656234741, "transform": { "location": { "x": 1247.449462890625, "y": 4097.56689453125, "z": 364.3969421386719 }, "rotation": { "roll": 0.0031969621777534485, "pitch": 1.0469176769256592, "yaw": -170.6228485107422 } }, "velocity": { "x": -2.1588902473449707, "y": -0.35378551483154297, "z": 0.031545065343379974 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.047101974487305, "transform": { "location": { "x": 1223.503662109375, "y": 4096.912109375, "z": 364.7423095703125 }, "rotation": { "roll": -0.0016479543410241604, "pitch": -0.8260498642921448, "yaw": 9.255465507507324 } }, "velocity": { "x": 7.941810607910156, "y": 1.2923842668533325, "z": -0.11500395834445953 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 6.075861930847168, "transform": { "location": { "x": 1264.0185546875, "y": 4103.50048828125, "z": 364.1385498046875 }, "rotation": { "roll": -0.0002746562531683594, "pitch": -0.8173481822013855, "yaw": 9.226207733154297 } }, "velocity": { "x": 5.996542930603027, "y": 0.9741171002388, "z": -0.09307222068309784 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 6.487964153289795, "transform": { "location": { "x": 1230.313232421875, "y": 4094.7734375, "z": 364.64935302734375 }, "rotation": { "roll": 0.00416884571313858, "pitch": 0.9637669324874878, "yaw": -170.75442504882812 } }, "velocity": { "x": -6.40356969833374, "y": -1.0389493703842163, "z": 0.09249776601791382 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.249607563018799, "transform": { "location": { "x": 1173.6932373046875, "y": 4085.62548828125, "z": 365.50592041015625 }, "rotation": { "roll": 0.012378592044115067, "pitch": 1.1826472282409668, "yaw": -170.20281982421875 } }, "velocity": { "x": -2.2180163860321045, "y": -0.3740825951099396, "z": 0.03463202342391014 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0004070336290169507, "transform": { "location": { "x": 1161.0430908203125, "y": 4083.61767578125, "z": 365.7000427246094 }, "rotation": { "roll": -0.0006103539490140975, "pitch": 0.9234551787376404, "yaw": -170.7646026611328 } }, "velocity": { "x": 1.9902587155229412e-05, "y": 7.466450369975064e-06, "z": -0.00040647818241268396 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.08091390132904053, "expert_target_speed": 7.728369787821759, "target_point": [ 56.76662541947815, -0.5532379503065528 ], "target_point_next": [ 93.76406984141751, -0.9930135839058636 ] }, "230": { "acceleration": [ -1.3326644897460938, -0.1966238021850586, 0.007126480340957642 ], "angular_velocity": [ 0.008715134114027023, -0.1225859746336937, 2.567291259765625 ], "forward_vector": [ -0.9849801659584045, -0.1717289239168167, 0.017979606986045837 ], "right_vector": [ 0.17175179719924927, -0.9851402044296265, -0.00027534851687960327 ], "location": [ 1210.7415771484375, 4091.801513671875, 364.9298400878906 ], "rotation": [ 0.015778860077261925, 1.030211091041565, -170.1100311279297 ], "velocity": [ -7.18858003616333, -1.2472091913223267, 0.10456046462059021 ], "speed": 7.295972430268968, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 38.037532806396484, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1173.2265625, 4085.5458984375, 365.51702880859375 ], "velocity": [ -0.017263544723391533, -0.0031871532555669546, -0.00038054853212088346 ], "speed_kmh": 0.0632138616413598, "color": "0,0,0" }, "other_vehicles": [ { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.034911155700684, "transform": { "location": { "x": 1144.1597900390625, "y": 4083.921142578125, "z": 365.9807434082031 }, "rotation": { "roll": -0.0918273851275444, "pitch": -1.0250201225280762, "yaw": 9.580739974975586 } }, "velocity": { "x": 7.913618087768555, "y": 1.3821399211883545, "z": -0.15536083281040192 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.7288818359375, "transform": { "location": { "x": 1183.6644287109375, "y": 4090.435791015625, "z": 365.331787109375 }, "rotation": { "roll": -0.0015563903143629432, "pitch": -0.857878565788269, "yaw": 9.238097190856934 } }, "velocity": { "x": 8.614603996276855, "y": 1.4013689756393433, "z": -0.13466468453407288 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 3.711904287338257, "transform": { "location": { "x": 1246.71826171875, "y": 4097.447265625, "z": 364.407958984375 }, "rotation": { "roll": 0.00400449289008975, "pitch": 1.1465564966201782, "yaw": -170.6442108154297 } }, "velocity": { "x": -3.6629183292388916, "y": -0.5985701084136963, "z": 0.05456016585230827 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.046463012695312, "transform": { "location": { "x": 1225.489013671875, "y": 4097.234375, "z": 364.7135009765625 }, "rotation": { "roll": -0.000366213615052402, "pitch": -0.8266850709915161, "yaw": 9.229576110839844 } }, "velocity": { "x": 7.941147804260254, "y": 1.2924188375473022, "z": -0.11567207425832748 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 4.998363971710205, "transform": { "location": { "x": 1265.3057861328125, "y": 4103.7099609375, "z": 364.1180114746094 }, "rotation": { "roll": -0.0008850112790241838, "pitch": -0.7778629064559937, "yaw": 9.226436614990234 } }, "velocity": { "x": 4.933093547821045, "y": 0.8013064861297607, "z": -0.07835280895233154 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.179330825805664, "transform": { "location": { "x": 1228.447998046875, "y": 4094.470947265625, "z": 364.6766662597656 }, "rotation": { "roll": 0.002255680039525032, "pitch": 1.0660148859024048, "yaw": -170.78939819335938 } }, "velocity": { "x": -8.0734224319458, "y": -1.306776523590088, "z": 0.1167662963271141 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.01755940541625023, "transform": { "location": { "x": 1173.2265625, "y": 4085.5458984375, "z": 365.51702880859375 }, "rotation": { "roll": 0.004964504390954971, "pitch": 0.7313219904899597, "yaw": -170.27572631835938 } }, "velocity": { "x": -0.017263544723391533, "y": -0.0031871532555669546, "z": -0.00038054853212088346 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.00032231886871159077, "transform": { "location": { "x": 1161.0430908203125, "y": 4083.61767578125, "z": 365.7000427246094 }, "rotation": { "roll": 0.0002016301586991176, "pitch": 0.9236122965812683, "yaw": -170.7644805908203 } }, "velocity": { "x": 1.4851092601020355e-05, "y": 2.0868405044893734e-05, "z": -0.0003212995652575046 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.06557260453701019, "expert_target_speed": 7.989015432903696, "target_point": [ 54.984926976974364, -0.5267879932252058 ], "target_point_next": [ 91.98256560876699, -0.9499097649246231 ] }, "235": { "acceleration": [ -1.2082672119140625, -0.32677412033081055, 0.03981694579124451 ], "angular_velocity": [ -0.05050116032361984, -0.05394591763615608, -2.1104958057403564 ], "forward_vector": [ -0.9849721789360046, -0.17181536555290222, 0.017587946727871895 ], "right_vector": [ 0.1718432754278183, -0.9851242899894714, 7.615447248099372e-05 ], "location": [ 1208.90283203125, 4091.48046875, 364.9569091796875 ], "rotation": [ -0.004364004824310541, 1.0077670812606812, -170.10507202148438 ], "velocity": [ -7.505683422088623, -1.322670578956604, 0.11084159463644028 ], "speed": 7.621334600518034, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 36.331993103027344, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1173.0677490234375, 4085.5185546875, 365.5191650390625 ], "velocity": [ -1.1694880723953247, -0.19729487597942352, 0.017975492402911186 ], "speed_kmh": 4.27013835408781, "color": "0,0,0" }, "other_vehicles": [ { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.252659797668457, "transform": { "location": { "x": 1146.1671142578125, "y": 4084.26806640625, "z": 365.9433898925781 }, "rotation": { "roll": -0.033477783203125, "pitch": -0.9820582270622253, "yaw": 9.809500694274902 } }, "velocity": { "x": 8.131658554077148, "y": 1.4005722999572754, "z": -0.14462505280971527 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.209206581115723, "transform": { "location": { "x": 1185.7418212890625, "y": 4090.773681640625, "z": 365.2995300292969 }, "rotation": { "roll": -9.154510917142034e-05, "pitch": -0.8979512453079224, "yaw": 9.23493480682373 } }, "velocity": { "x": 8.101723670959473, "y": 1.3179957866668701, "z": -0.12662386894226074 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.127926349639893, "transform": { "location": { "x": 1245.6185302734375, "y": 4097.267578125, "z": 364.424560546875 }, "rotation": { "roll": 0.0031685230787843466, "pitch": 1.154192566871643, "yaw": -170.69509887695312 } }, "velocity": { "x": -5.060489177703857, "y": -0.824904203414917, "z": 0.08129554241895676 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.045808792114258, "transform": { "location": { "x": 1227.47412109375, "y": 4097.55810546875, "z": 364.6846923828125 }, "rotation": { "roll": -0.002319338731467724, "pitch": -0.8289185166358948, "yaw": 9.261959075927734 } }, "velocity": { "x": 7.94025182723999, "y": 1.293905258178711, "z": -0.11507268995046616 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.404189586639404, "transform": { "location": { "x": 1266.5775146484375, "y": 4103.9169921875, "z": 364.099365234375 }, "rotation": { "roll": 0.0006589393015019596, "pitch": -0.8901990056037903, "yaw": 9.206789016723633 } }, "velocity": { "x": 5.33351469039917, "y": 0.8671862483024597, "z": -0.08292365819215775 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.863037586212158, "transform": { "location": { "x": 1226.42626953125, "y": 4094.14306640625, "z": 364.7056884765625 }, "rotation": { "roll": -0.0008544931770302355, "pitch": 0.8435009717941284, "yaw": -170.79673767089844 } }, "velocity": { "x": -7.760910511016846, "y": -1.2580506801605225, "z": 0.11373881995677948 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.1861495971679688, "transform": { "location": { "x": 1173.0677490234375, "y": 4085.5185546875, "z": 365.5191650390625 }, "rotation": { "roll": 0.006480793002992868, "pitch": 0.7739492058753967, "yaw": -170.33596801757812 } }, "velocity": { "x": -1.1694880723953247, "y": -0.19729487597942352, "z": 0.017975492402911186 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.7410275936126709, "transform": { "location": { "x": 1160.996337890625, "y": 4083.609619140625, "z": 365.70062255859375 }, "rotation": { "roll": -9.154625877272338e-05, "pitch": 0.9424362778663635, "yaw": -170.7450408935547 } }, "velocity": { "x": -0.7295824885368347, "y": -0.1292751431465149, "z": 0.010918397456407547 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.04381261765956879, "expert_target_speed": 8.242285706027577, "target_point": [ 53.118319143919706, -0.5318557710552358 ], "target_point_next": [ 90.1159209160347, -0.9581883576507497 ] }, "240": { "acceleration": [ -0.9524440765380859, -0.13008356094360352, 0.010230988264083862 ], "angular_velocity": [ 0.06846090406179428, -0.03514346480369568, 2.446559190750122 ], "forward_vector": [ -0.9848695993423462, -0.17241260409355164, 0.017486397176980972 ], "right_vector": [ 0.172434464097023, -0.9850209355354309, -0.00026031245943158865 ], "location": [ 1206.989013671875, 4091.146240234375, 364.9855041503906 ], "rotation": [ 0.014917085878551006, 1.0019477605819702, -170.07034301757812 ], "velocity": [ -7.779595375061035, -1.355958342552185, 0.11540733277797699 ], "speed": 7.896880854261885, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 34.849430084228516, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1172.61376953125, 4085.442138671875, 365.52264404296875 ], "velocity": [ -2.408052682876587, -0.40494364500045776, 0.038598641753196716 ], "speed_kmh": 8.791806564539296, "color": "0,0,0" }, "other_vehicles": [ { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.085938453674316, "transform": { "location": { "x": 1148.1788330078125, "y": 4084.61376953125, "z": 365.9084167480469 }, "rotation": { "roll": -0.014282218180596828, "pitch": -0.9702761173248291, "yaw": 9.757229804992676 } }, "velocity": { "x": 7.968059062957764, "y": 1.3688546419143677, "z": -0.13665753602981567 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.973836898803711, "transform": { "location": { "x": 1187.743896484375, "y": 4091.099609375, "z": 365.268310546875 }, "rotation": { "roll": 0.00010379932064097375, "pitch": -0.8879996538162231, "yaw": 9.238661766052246 } }, "velocity": { "x": 7.869474411010742, "y": 1.2800946235656738, "z": -0.12169073522090912 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.4699201583862305, "transform": { "location": { "x": 1244.295654296875, "y": 4097.05224609375, "z": 364.44451904296875 }, "rotation": { "roll": 0.002201751107349992, "pitch": 0.9810609817504883, "yaw": -170.6885986328125 } }, "velocity": { "x": -5.397988796234131, "y": -0.880524218082428, "z": 0.08012430369853973 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.046594619750977, "transform": { "location": { "x": 1229.45947265625, "y": 4097.88134765625, "z": 364.65576171875 }, "rotation": { "roll": 5.018448791815899e-05, "pitch": -0.831145167350769, "yaw": 9.235748291015625 } }, "velocity": { "x": 7.941147804260254, "y": 1.2932020425796509, "z": -0.11612436175346375 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.910149574279785, "transform": { "location": { "x": 1267.976806640625, "y": 4104.14404296875, "z": 364.077880859375 }, "rotation": { "roll": 0.0008027935982681811, "pitch": -0.9327101111412048, "yaw": 9.196910858154297 } }, "velocity": { "x": 5.8328857421875, "y": 0.9482210874557495, "z": -0.09049545973539352 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.1526360511779785, "transform": { "location": { "x": 1224.5977783203125, "y": 4093.8466796875, "z": 364.7320861816406 }, "rotation": { "roll": -0.0009155292063951492, "pitch": 0.743780255317688, "yaw": -170.79864501953125 } }, "velocity": { "x": -7.059802055358887, "y": -1.1439988613128662, "z": 0.10325202345848083 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.4421684741973877, "transform": { "location": { "x": 1172.61376953125, "y": 4085.442138671875, "z": 365.52264404296875 }, "rotation": { "roll": 0.008215050213038921, "pitch": 1.235034704208374, "yaw": -170.37559509277344 } }, "velocity": { "x": -2.408052682876587, "y": -0.40494364500045776, "z": 0.038598641753196716 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 1.3663482666015625, "transform": { "location": { "x": 1160.7275390625, "y": 4083.563232421875, "z": 365.7049255371094 }, "rotation": { "roll": 0.0019514012383297086, "pitch": 0.9504549503326416, "yaw": -170.62754821777344 } }, "velocity": { "x": -1.345278263092041, "y": -0.23800028860569, "z": 0.022132806479930878 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.020551471039652824, "expert_target_speed": 8.453704323439503, "target_point": [ 51.17520328077983, -0.5632538258634678 ], "target_point_next": [ 88.17253987499988, -1.0120091003572167 ] }, "245": { "acceleration": [ 1.3208389282226562, 0.21936655044555664, -0.006277561187744141 ], "angular_velocity": [ 0.06229684501886368, -0.6905201077461243, -2.7799973487854004 ], "forward_vector": [ -0.9850757718086243, -0.1713978499174118, 0.01576441526412964 ], "right_vector": [ 0.17141596972942352, -0.9851987361907959, -0.00020545348525047302 ], "location": [ 1205.0458984375, 4090.807373046875, 365.0149230957031 ], "rotation": [ 0.011773080565035343, 0.9032719731330872, -170.12965393066406 ], "velocity": [ -7.672470569610596, -1.3380597829818726, 0.11502955853939056 ], "speed": 7.788273789767167, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 33.2119026184082, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1172.283447265625, 4085.38671875, 365.53338623046875 ], "velocity": [ -0.006239193957298994, -0.0008184199687093496, 0.0009995525470003486 ], "speed_kmh": 0.02293752586438795, "color": "0,0,0" }, "other_vehicles": [ { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.302200317382812, "transform": { "location": { "x": 1150.1990966796875, "y": 4084.958740234375, "z": 365.8741760253906 }, "rotation": { "roll": 0.012679158709943295, "pitch": -0.9477501511573792, "yaw": 9.678762435913086 } }, "velocity": { "x": 8.185351371765137, "y": 1.3811661005020142, "z": -0.1376199722290039 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5987, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.791616439819336, "transform": { "location": { "x": 1189.4984130859375, "y": 4091.385009765625, "z": 365.2413635253906 }, "rotation": { "roll": -3.0512825105688535e-05, "pitch": -0.8992626667022705, "yaw": 9.24168586730957 } }, "velocity": { "x": 6.702724933624268, "y": 1.090371012687683, "z": -0.10308633744716644 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.0480780601501465, "transform": { "location": { "x": 1242.8309326171875, "y": 4096.81396484375, "z": 364.46630859375 }, "rotation": { "roll": 0.0037206190172582865, "pitch": 1.1536394357681274, "yaw": -170.8162841796875 } }, "velocity": { "x": -6.956489562988281, "y": -1.1278305053710938, "z": 0.10323303192853928 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.047074317932129, "transform": { "location": { "x": 1231.4447021484375, "y": 4098.2041015625, "z": 364.6268005371094 }, "rotation": { "roll": -0.0005798335187137127, "pitch": -0.8326136469841003, "yaw": 9.257211685180664 } }, "velocity": { "x": 7.941591739654541, "y": 1.2934924364089966, "z": -0.11577560752630234 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.394108295440674, "transform": { "location": { "x": 1269.3790283203125, "y": 4104.37255859375, "z": 364.0552978515625 }, "rotation": { "roll": 0.0005361012881621718, "pitch": -0.8443547487258911, "yaw": 9.202439308166504 } }, "velocity": { "x": 5.323676109313965, "y": 0.8648428320884705, "z": -0.08320904523134232 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.730301856994629, "transform": { "location": { "x": 1222.780029296875, "y": 4093.552490234375, "z": 364.7586975097656 }, "rotation": { "roll": -0.00039672412094660103, "pitch": 0.8746330142021179, "yaw": -170.7873077392578 } }, "velocity": { "x": -7.6297454833984375, "y": -1.2379554510116577, "z": 0.10962261259555817 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.0063715348951518536, "transform": { "location": { "x": 1172.283447265625, "y": 4085.38671875, "z": 365.53338623046875 }, "rotation": { "roll": 0.00414925254881382, "pitch": 0.5478494167327881, "yaw": -170.39450073242188 } }, "velocity": { "x": -0.006239193957298994, "y": -0.0008184199687093496, "z": 0.0009995525470003486 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 1.8680193424224854, "transform": { "location": { "x": 1160.32666015625, "y": 4083.492919921875, "z": 365.7115173339844 }, "rotation": { "roll": 0.003537144511938095, "pitch": 0.9443213939666748, "yaw": -170.52658081054688 } }, "velocity": { "x": -1.8388471603393555, "y": -0.3274020552635193, "z": 0.030744275078177452 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.0, "transform": { "location": { "x": 1187.1925048828125, "y": 4084.693115234375, "z": 366.40362548828125 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.006810971535742283, "expert_target_speed": 8.334773313508132, "target_point": [ 49.203317008811084, -0.5110407037019264 ], "target_point_next": [ 86.20109833604397, -0.9214956033649919 ] }, "250": { "acceleration": [ 1.9388866424560547, 0.3257441520690918, -0.02613559365272522 ], "angular_velocity": [ 0.1471431851387024, -0.43354061245918274, 3.0140397548675537 ], "forward_vector": [ -0.9849796295166016, -0.172170951962471, 0.0131289754062891 ], "right_vector": [ 0.17218336462974548, -0.9850649237632751, -0.00018739320512395352 ], "location": [ 1203.1851806640625, 4090.482666015625, 365.04351806640625 ], "rotation": [ 0.010737765580415726, 0.7522565126419067, -170.08506774902344 ], "velocity": [ -7.223995208740234, -1.2622140645980835, 0.10946689546108246 ], "speed": 7.333436515084253, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 31.528451919555664, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1172.080810546875, 4085.352294921875, 365.53424072265625 ], "velocity": [ -1.1128737926483154, -0.18704204261302948, 0.01799679733812809 ], "speed_kmh": 4.063053665240489, "color": "0,0,0" }, "other_vehicles": [ { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.136066436767578, "transform": { "location": { "x": 1152.2242431640625, "y": 4085.299072265625, "z": 365.84027099609375 }, "rotation": { "roll": 0.018766826018691063, "pitch": -0.9533372521400452, "yaw": 9.515530586242676 } }, "velocity": { "x": 8.023884773254395, "y": 1.3396265506744385, "z": -0.13510443270206451 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.69698715209961, "transform": { "location": { "x": 1240.850830078125, "y": 4096.49267578125, "z": 364.4958190917969 }, "rotation": { "roll": -9.15604832698591e-05, "pitch": 1.1960002183914185, "yaw": -170.7942657470703 } }, "velocity": { "x": -8.58359146118164, "y": -1.3940753936767578, "z": 0.12688139081001282 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.045985221862793, "transform": { "location": { "x": 1233.4300537109375, "y": 4098.52685546875, "z": 364.5976867675781 }, "rotation": { "roll": 0.00045046707964502275, "pitch": -0.8378046154975891, "yaw": 9.230445861816406 } }, "velocity": { "x": 7.94068717956543, "y": 1.292298674583435, "z": -0.11548461019992828 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 5.2033867835998535, "transform": { "location": { "x": 1270.649658203125, "y": 4104.57861328125, "z": 364.0355529785156 }, "rotation": { "roll": 0.00014533119974657893, "pitch": -0.857297956943512, "yaw": 9.216752052307129 } }, "velocity": { "x": 5.135270118713379, "y": 0.8353520631790161, "z": -0.08013000339269638 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.621763229370117, "transform": { "location": { "x": 1220.738037109375, "y": 4093.220947265625, "z": 364.78839111328125 }, "rotation": { "roll": -0.0006408719345927238, "pitch": 0.9502978324890137, "yaw": -170.77581787109375 } }, "velocity": { "x": -8.509383201599121, "y": -1.3820353746414185, "z": 0.1232152134180069 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.1286259889602661, "transform": { "location": { "x": 1172.080810546875, "y": 4085.352294921875, "z": 365.53424072265625 }, "rotation": { "roll": 0.0031587067060172558, "pitch": 0.8707124590873718, "yaw": -170.4232635498047 } }, "velocity": { "x": -1.1128737926483154, "y": -0.18704204261302948, "z": 0.01799679733812809 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.390180826187134, "transform": { "location": { "x": 1159.8001708984375, "y": 4083.400634765625, "z": 365.72015380859375 }, "rotation": { "roll": 0.004065065179020166, "pitch": 0.9475589394569397, "yaw": -170.36233520507812 } }, "velocity": { "x": -2.352773904800415, "y": -0.41943466663360596, "z": 0.03865094110369682 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 0.736931324005127, "transform": { "location": { "x": 1187.20166015625, "y": 4084.802978515625, "z": 366.4031982421875 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.06132812425494194, "y": 0.734375, "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": -0.016112640500068665, "expert_target_speed": 7.763980680114641, "target_point": [ 47.314067473974234, -0.5487989520008965 ], "target_point_next": [ 84.31151818316899, -0.9880453328674594 ] }, "255": { "acceleration": [ 1.7815113067626953, 0.3066539764404297, -0.012520253658294678 ], "angular_velocity": [ -0.07272862643003464, -0.12672267854213715, -3.0225958824157715 ], "forward_vector": [ -0.9850341081619263, -0.1719425767660141, 0.011979411356151104 ], "right_vector": [ 0.17195335030555725, -0.9851050972938538, -0.00013213352940510958 ], "location": [ 1201.44140625, 4090.177734375, 365.0700378417969 ], "rotation": [ 0.007571237627416849, 0.6863861680030823, -170.09849548339844 ], "velocity": [ -6.757998943328857, -1.182669997215271, 0.10231679677963257 ], "speed": 6.860703902687182, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 30.207801818847656, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1171.6373291015625, 4085.27783203125, 365.53826904296875 ], "velocity": [ -2.4153730869293213, -0.406401127576828, 0.03789819777011871 ], "speed_kmh": 8.818622561059259, "color": "0,0,0" }, "other_vehicles": [ { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.343966484069824, "transform": { "location": { "x": 1154.2572021484375, "y": 4085.637451171875, "z": 365.806396484375 }, "rotation": { "roll": 0.009930163621902466, "pitch": -0.9424362778663635, "yaw": 9.454216003417969 } }, "velocity": { "x": 8.229829788208008, "y": 1.3685206174850464, "z": -0.1372268795967102 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 9.222637176513672, "transform": { "location": { "x": 1238.618896484375, "y": 4096.1298828125, "z": 364.52886962890625 }, "rotation": { "roll": -0.0006713763577863574, "pitch": 1.0064761638641357, "yaw": -170.75405883789062 } }, "velocity": { "x": -9.101981163024902, "y": -1.480745792388916, "z": 0.13552430272102356 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.0465726852417, "transform": { "location": { "x": 1235.4154052734375, "y": 4098.84912109375, "z": 364.56854248046875 }, "rotation": { "roll": -0.00015258166240528226, "pitch": -0.8380709886550903, "yaw": 9.246387481689453 } }, "velocity": { "x": 7.941514015197754, "y": 1.290869116783142, "z": -0.11551500856876373 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 1271.953369140625, "y": 4104.73388671875, "z": 364.01361083984375 }, "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": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.654187202453613, "transform": { "location": { "x": 1218.715576171875, "y": 4092.892822265625, "z": 364.81744384765625 }, "rotation": { "roll": 9.958642476703972e-05, "pitch": 0.7445998787879944, "yaw": -170.7786102294922 } }, "velocity": { "x": -7.5544633865356445, "y": -1.2265206575393677, "z": 0.11097265034914017 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.449617385864258, "transform": { "location": { "x": 1171.6373291015625, "y": 4085.27783203125, "z": 365.53826904296875 }, "rotation": { "roll": 0.004698557313531637, "pitch": 1.233368158340454, "yaw": -170.46856689453125 } }, "velocity": { "x": -2.4153730869293213, "y": -0.406401127576828, "z": 0.03789819777011871 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.9323339462280273, "transform": { "location": { "x": 1159.1422119140625, "y": 4083.2861328125, "z": 365.73089599609375 }, "rotation": { "roll": 0.007656293921172619, "pitch": 0.9503661394119263, "yaw": -170.2716827392578 } }, "velocity": { "x": -2.8897128105163574, "y": -0.4958272874355316, "z": 0.047927312552928925 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 1.473830223083496, "transform": { "location": { "x": 1187.2261962890625, "y": 4085.0966796875, "z": 366.402099609375 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.12226562201976776, "y": 1.46875, "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": -0.033999402076005936, "expert_target_speed": 7.305456571982778, "target_point": [ 45.54395959046665, -0.538260299241248 ], "target_point_next": [ 82.54151212510112, -0.9688445643530414 ] }, "260": { "acceleration": [ 1.4739513397216797, 0.24973630905151367, -0.04236862063407898 ], "angular_velocity": [ 0.058928947895765305, 0.06395887583494186, 3.259172201156616 ], "forward_vector": [ -0.9848892688751221, -0.17277400195598602, 0.011928512714803219 ], "right_vector": [ 0.17278455197811127, -0.9849596619606018, -0.00014801409270148724 ], "location": [ 1199.8045654296875, 4089.89111328125, 365.09466552734375 ], "rotation": [ 0.00848118681460619, 0.6834696531295776, -170.05014038085938 ], "velocity": [ -6.36464262008667, -1.1160441637039185, 0.09588687866926193 ], "speed": 6.461751330464621, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 28.881637573242188, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1171.3062744140625, 4085.22314453125, 365.5490417480469 ], "velocity": [ -0.006221347488462925, -0.0007222754065878689, 0.00032912741880863905 ], "speed_kmh": 0.022578392738655802, "color": "0,0,0" }, "other_vehicles": [ { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.15790843963623, "transform": { "location": { "x": 1156.2913818359375, "y": 4085.9736328125, "z": 365.7727355957031 }, "rotation": { "roll": 0.013303142972290516, "pitch": -0.9434539675712585, "yaw": 9.370975494384766 } }, "velocity": { "x": 8.048562049865723, "y": 1.324522852897644, "z": -0.1332787424325943 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 9.861990928649902, "transform": { "location": { "x": 1236.1729736328125, "y": 4095.732177734375, "z": 364.5650634765625 }, "rotation": { "roll": -0.0004272593359928578, "pitch": 0.9524903297424316, "yaw": -170.76197814941406 } }, "velocity": { "x": -9.733074188232422, "y": -1.5828982591629028, "z": 0.1433670073747635 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.046897888183594, "transform": { "location": { "x": 1237.400634765625, "y": 4099.17138671875, "z": 364.53924560546875 }, "rotation": { "roll": 0.00015726475976407528, "pitch": -0.842551589012146, "yaw": 9.223440170288086 } }, "velocity": { "x": 7.941850185394287, "y": 1.2907049655914307, "z": -0.11690368503332138 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 1273.232666015625, "y": 4104.904296875, "z": 363.99249267578125 }, "rotation": { "roll": 0.0, "pitch": -0.8866882920265198, "yaw": 9.234709739685059 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 5.971561908721924, "transform": { "location": { "x": 1217.001953125, "y": 4092.614501953125, "z": 364.84228515625 }, "rotation": { "roll": 0.0002506768796592951, "pitch": 0.6114043593406677, "yaw": -170.77386474609375 } }, "velocity": { "x": -5.894038677215576, "y": -0.9552015662193298, "z": 0.08632051199674606 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.006271775811910629, "transform": { "location": { "x": 1171.3062744140625, "y": 4085.22314453125, "z": 365.5490417480469 }, "rotation": { "roll": 0.0033923876471817493, "pitch": 0.5417637228965759, "yaw": -170.38458251953125 } }, "velocity": { "x": -0.006221347488462925, "y": -0.0007222754065878689, "z": 0.00032912741880863905 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 3.5534555912017822, "transform": { "location": { "x": 1158.34375, "y": 4083.149658203125, "z": 365.7440185546875 }, "rotation": { "roll": 0.006771966349333525, "pitch": 0.9520053863525391, "yaw": -170.28091430664062 } }, "velocity": { "x": -3.5022099018096924, "y": -0.5985613465309143, "z": 0.05741409957408905 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.2647705078125, "y": 4085.560546875, "z": 366.40032958984375 }, "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": -0.059107705950737, "expert_target_speed": 6.856966353609403, "target_point": [ 43.88174350469325, -0.5761646697911118 ], "target_point_next": [ 80.87891966829422, -1.0379571360320181 ] }, "265": { "acceleration": [ 1.4450740814208984, 0.2541518211364746, -0.05074620246887207 ], "angular_velocity": [ -0.09774672240018845, 0.07368087768554688, -3.2219033241271973 ], "forward_vector": [ -0.9849367737770081, -0.1724800318479538, 0.012257506139576435 ], "right_vector": [ 0.1724911481142044, -0.9850110411643982, -0.0001514166797278449 ], "location": [ 1198.26025390625, 4089.6201171875, 365.1180419921875 ], "rotation": [ 0.008676188997924328, 0.7023209929466248, -170.06719970703125 ], "velocity": [ -6.00209903717041, -1.0536824464797974, 0.0914849266409874 ], "speed": 6.093885423112385, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 27.538244247436523, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1171.0848388671875, 4085.185546875, 365.54974365234375 ], "velocity": [ -1.2567670345306396, -0.21180547773838043, 0.020183783024549484 ], "speed_kmh": 4.588739579291698, "color": "0,0,0" }, "other_vehicles": [ { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.351675033569336, "transform": { "location": { "x": 1158.328369140625, "y": 4086.30810546875, "z": 365.73919677734375 }, "rotation": { "roll": 0.007266128435730934, "pitch": -0.938870906829834, "yaw": 9.334389686584473 } }, "velocity": { "x": 8.240294456481934, "y": 1.3527042865753174, "z": -0.13493835926055908 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.384637832641602, "transform": { "location": { "x": 1233.90380859375, "y": 4095.363037109375, "z": 364.5982666015625 }, "rotation": { "roll": 0.0005859974189661443, "pitch": 0.6280016899108887, "yaw": -170.75131225585938 } }, "velocity": { "x": -8.274941444396973, "y": -1.3463718891143799, "z": 0.12160488218069077 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.046162605285645, "transform": { "location": { "x": 1239.385986328125, "y": 4099.49365234375, "z": 364.5099182128906 }, "rotation": { "roll": -0.0012817413080483675, "pitch": -0.8479884266853333, "yaw": 9.25670337677002 } }, "velocity": { "x": 7.940806865692139, "y": 1.2923412322998047, "z": -0.11902131140232086 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 1274.462890625, "y": 4105.1025390625, "z": 363.97320556640625 }, "rotation": { "roll": 0.0, "pitch": -0.8866882920265198, "yaw": 9.234709739685059 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 5.138853549957275, "transform": { "location": { "x": 1215.69580078125, "y": 4092.40234375, "z": 364.86138916015625 }, "rotation": { "roll": -0.00012207130203023553, "pitch": 0.6703283786773682, "yaw": -170.80776977539062 } }, "velocity": { "x": -5.072154521942139, "y": -0.8217888474464417, "z": 0.07568885385990143 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.2746498584747314, "transform": { "location": { "x": 1171.0848388671875, "y": 4085.185546875, "z": 365.54974365234375 }, "rotation": { "roll": 0.003880326868966222, "pitch": 0.9005194306373596, "yaw": -170.4603729248047 } }, "velocity": { "x": -1.2567670345306396, "y": -0.21180547773838043, "z": 0.020183783024549484 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 4.385838031768799, "transform": { "location": { "x": 1157.364990234375, "y": 4082.981689453125, "z": 365.7601013183594 }, "rotation": { "roll": 0.009110977873206139, "pitch": 0.9577836990356445, "yaw": -170.28822326660156 } }, "velocity": { "x": -4.322399616241455, "y": -0.7398197650909424, "z": 0.07144469767808914 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.3062744140625, "y": 4086.05859375, "z": 366.2469177246094 }, "rotation": { "roll": 0.0, "pitch": 0.8803703784942627, "yaw": 85.23467254638672 } }, "velocity": { "x": 0.166015625, "y": 1.9921875, "z": 0.0 }, "bounding_box_extent": { "x": 0.18767888844013214, "y": 0.18767888844013214, "z": 0.9300000071525574 } } ], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.07581976801156998, "expert_target_speed": 6.364672222114954, "target_point": [ 42.31400462678136, -0.5636591855216624 ], "target_point_next": [ 79.3113165573088, -1.0144432553965945 ] }, "270": { "acceleration": [ 1.8109512329101562, 0.32793760299682617, -0.018635541200637817 ], "angular_velocity": [ 0.08818589895963669, -0.09861002117395401, 1.856427788734436 ], "forward_vector": [ -0.9848647117614746, -0.17285463213920593, 0.012758503668010235 ], "right_vector": [ 0.17286662757396698, -0.9849452376365662, -0.000165757883223705 ], "location": [ 1196.807373046875, 4089.364990234375, 365.14007568359375 ], "rotation": [ 0.00949800107628107, 0.7310282588005066, -170.04534912109375 ], "velocity": [ -5.649754047393799, -0.9923573732376099, 0.08653709292411804 ], "speed": 5.736243888840646, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 26.554885864257812, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1170.599853515625, 4085.10400390625, 365.5546875 ], "velocity": [ -2.575942277908325, -0.43289366364479065, 0.04159357771277428 ], "speed_kmh": 9.404620575666407, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 1120.2938232421875, "y": 4080.03173828125, "z": 366.7489318847656 }, "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": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.1587553024292, "transform": { "location": { "x": 1160.3638916015625, "y": 4086.64208984375, "z": 365.7059631347656 }, "rotation": { "roll": 0.007169779855757952, "pitch": -0.9423201680183411, "yaw": 9.309167861938477 } }, "velocity": { "x": 8.050739288330078, "y": 1.3167179822921753, "z": -0.13091853260993958 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.993566513061523, "transform": { "location": { "x": 1231.923828125, "y": 4095.04052734375, "z": 364.6273498535156 }, "rotation": { "roll": -0.0004577646031975746, "pitch": 0.7111524343490601, "yaw": -170.77191162109375 } }, "velocity": { "x": -7.889012813568115, "y": -1.2835116386413574, "z": 0.11480578780174255 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.046845436096191, "transform": { "location": { "x": 1241.3712158203125, "y": 4099.81591796875, "z": 364.4803466796875 }, "rotation": { "roll": -6.103816122049466e-05, "pitch": -0.8481455445289612, "yaw": 9.230789184570312 } }, "velocity": { "x": 7.941453456878662, "y": 1.292651891708374, "z": -0.11868715286254883 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5954, "type": "vehicle.mini.cooper_s_2021", "speed_kmh": 0.0, "transform": { "location": { "x": 1275.6500244140625, "y": 4105.29345703125, "z": 363.9544982910156 }, "rotation": { "roll": 0.0, "pitch": -0.8866882920265198, "yaw": 9.234709739685059 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.2763495445251465, "y": 1.0485360622406006, "z": 0.8835831880569458 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 5.247751235961914, "transform": { "location": { "x": 1214.4132080078125, "y": 4092.194091796875, "z": 364.8804931640625 }, "rotation": { "roll": -0.0007324249017983675, "pitch": 0.8141995072364807, "yaw": -170.75302124023438 } }, "velocity": { "x": -5.1791300773620605, "y": -0.8424184918403625, "z": 0.07638026773929596 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.6123945713043213, "transform": { "location": { "x": 1170.599853515625, "y": 4085.10400390625, "z": 365.5546875 }, "rotation": { "roll": 0.005087714642286301, "pitch": 1.2468782663345337, "yaw": -170.4449920654297 } }, "velocity": { "x": -2.575942277908325, "y": -0.43289366364479065, "z": 0.04159357771277428 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.29921817779541, "transform": { "location": { "x": 1156.162841796875, "y": 4082.7763671875, "z": 365.7801818847656 }, "rotation": { "roll": 0.0070176562294363976, "pitch": 0.962995171546936, "yaw": -170.2985382080078 } }, "velocity": { "x": -5.222715377807617, "y": -0.8928277492523193, "z": 0.08839761465787888 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.3477783203125, "y": 4086.556884765625, "z": 366.2447204589844 }, "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": -0.09711526334285736, "expert_target_speed": 5.941466618851325, "target_point": [ 40.83867550373285, -0.5799292011786461 ], "target_point_next": [ 77.83581278187987, -1.0448265923781133 ] }, "275": { "acceleration": [ 5.540666580200195, 0.9553694725036621, -0.05431056022644043 ], "angular_velocity": [ 0.1251271665096283, -0.8978284001350403, 0.06788339465856552 ], "forward_vector": [ -0.9848589897155762, -0.17318695783615112, 0.0076823667623102665 ], "right_vector": [ 0.17319059371948242, -0.9848883152008057, -0.00019446345686446875 ], "location": [ 1195.5985107421875, 4089.15283203125, 365.1593933105469 ], "rotation": [ 0.011142264120280743, 0.4401715099811554, -170.0265350341797 ], "velocity": [ -4.138697147369385, -0.7284083962440491, 0.06286437809467316 ], "speed": 4.202308040751214, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 26.205644607543945, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1169.7340087890625, 4084.9580078125, 365.5677185058594 ], "velocity": [ -4.419853687286377, -0.7433987855911255, 0.07017543911933899 ], "speed_kmh": 16.13694647724471, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 1122.34033203125, "y": 4080.3642578125, "z": 366.54254150390625 }, "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": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.351662635803223, "transform": { "location": { "x": 1162.401611328125, "y": 4086.974609375, "z": 365.67279052734375 }, "rotation": { "roll": 0.0039068260230124, "pitch": -0.927150309085846, "yaw": 9.281326293945312 } }, "velocity": { "x": 8.241280555725098, "y": 1.34673273563385, "z": -0.133713960647583 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.960866451263428, "transform": { "location": { "x": 1229.91455078125, "y": 4094.713623046875, "z": 364.6566467285156 }, "rotation": { "roll": -0.00048827865975908935, "pitch": 0.7941392064094543, "yaw": -170.74661254882812 } }, "velocity": { "x": -7.856777191162109, "y": -1.2780393362045288, "z": 0.11429852992296219 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.047478675842285, "transform": { "location": { "x": 1243.3565673828125, "y": 4100.140625, "z": 364.45068359375 }, "rotation": { "roll": -6.1024893511785194e-05, "pitch": -0.8526261448860168, "yaw": 9.264299392700195 } }, "velocity": { "x": 7.941962242126465, "y": 1.2934626340866089, "z": -0.11875102669000626 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.1890482902526855, "transform": { "location": { "x": 1212.9158935546875, "y": 4091.949951171875, "z": 364.9028015136719 }, "rotation": { "roll": -0.000488284626044333, "pitch": 1.0764377117156982, "yaw": -170.74705505371094 } }, "velocity": { "x": -7.094976425170898, "y": -1.1545113325119019, "z": 0.10405746102333069 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.482485294342041, "transform": { "location": { "x": 1169.7340087890625, "y": 4084.9580078125, "z": 365.5677185058594 }, "rotation": { "roll": 0.0047445837408304214, "pitch": 1.3469064235687256, "yaw": -170.45196533203125 } }, "velocity": { "x": -4.419853687286377, "y": -0.7433987855911255, "z": 0.07017543911933899 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.542882919311523, "transform": { "location": { "x": 1154.8494873046875, "y": 4082.5517578125, "z": 365.8020324707031 }, "rotation": { "roll": 0.006292375270277262, "pitch": 0.9531460404396057, "yaw": -170.2714080810547 } }, "velocity": { "x": -5.462852478027344, "y": -0.9340485334396362, "z": 0.0913587361574173 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.3892822265625, "y": 4087.0546875, "z": 366.2427673339844 }, "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": -0.11006978899240494, "expert_target_speed": 4.341392166933177, "target_point": [ 39.61114487369971, -0.5929140564038526 ], "target_point_next": [ 76.60812764484179, -1.069948849911425 ] }, "280": { "acceleration": [ 3.22385311126709, 0.5651259422302246, -0.04467576742172241 ], "angular_velocity": [ -0.09941370040178299, 0.30781564116477966, -0.5925564169883728 ], "forward_vector": [ -0.9848424792289734, -0.17329756915569305, 0.007296854630112648 ], "right_vector": [ 0.1733008325099945, -0.9848689436912537, -0.0001878067123470828 ], "location": [ 1194.697265625, 4088.993896484375, 365.17340087890625 ], "rotation": [ 0.010760818608105183, 0.41808268427848816, -170.02012634277344 ], "velocity": [ -3.1877641677856445, -0.5620960593223572, 0.04992038756608963 ], "speed": 3.2369418235927294, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 26.574722290039062, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1168.467529296875, 4084.74609375, 365.58929443359375 ], "velocity": [ -5.434659957885742, -0.901863157749176, 0.08778800815343857 ], "speed_kmh": 19.83485422199913, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 1124.386474609375, "y": 4080.697021484375, "z": 366.3363342285156 }, "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": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.159285545349121, "transform": { "location": { "x": 1164.4373779296875, "y": 4087.306884765625, "z": 365.63983154296875 }, "rotation": { "roll": 0.00222317548468709, "pitch": -0.934567928314209, "yaw": 9.277629852294922 } }, "velocity": { "x": 8.051786422729492, "y": 1.3136296272277832, "z": -0.130580335855484 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.028250694274902, "transform": { "location": { "x": 1228.08251953125, "y": 4094.416259765625, "z": 364.6832580566406 }, "rotation": { "roll": 2.6248683298035758e-06, "pitch": 0.6738527417182922, "yaw": -170.78469848632812 } }, "velocity": { "x": -6.936686992645264, "y": -1.1262199878692627, "z": 0.10151796042919159 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.046808242797852, "transform": { "location": { "x": 1245.341796875, "y": 4100.462890625, "z": 364.42095947265625 }, "rotation": { "roll": 0.0011146451579406857, "pitch": -0.8541219234466553, "yaw": 9.231616973876953 } }, "velocity": { "x": 7.941666126251221, "y": 1.291128158569336, "z": -0.11851900815963745 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.987715244293213, "transform": { "location": { "x": 1211.0191650390625, "y": 4091.64111328125, "z": 364.9305114746094 }, "rotation": { "roll": 4.2308300180593506e-05, "pitch": 1.003402590751648, "yaw": -170.71803283691406 } }, "velocity": { "x": -7.8829874992370605, "y": -1.2840150594711304, "z": 0.11581788957118988 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.509681701660156, "transform": { "location": { "x": 1168.467529296875, "y": 4084.74609375, "z": 365.58929443359375 }, "rotation": { "roll": 0.011112206615507603, "pitch": 1.2002280950546265, "yaw": -170.49610900878906 } }, "velocity": { "x": -5.434659957885742, "y": -0.901863157749176, "z": 0.08778800815343857 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.9269256591796875, "transform": { "location": { "x": 1153.3917236328125, "y": 4082.303955078125, "z": 365.8262023925781 }, "rotation": { "roll": 0.006865698378533125, "pitch": 0.9606250524520874, "yaw": -170.3844451904297 } }, "velocity": { "x": -5.844290733337402, "y": -0.9814417958259583, "z": 0.09739232808351517 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.4307861328125, "y": 4087.552734375, "z": 366.2408142089844 }, "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": -0.12183541059494019, "expert_target_speed": 3.109423669341686, "target_point": [ 38.695925917170875, -0.5977142182953408 ], "target_point_next": [ 75.69285477162379, -1.078912411299486 ] }, "285": { "acceleration": [ 2.716808319091797, 0.475803017616272, -0.03734000027179718 ], "angular_velocity": [ -0.039946720004081726, 0.3046391010284424, 0.8876321315765381 ], "forward_vector": [ -0.9847862720489502, -0.1735486388206482, 0.008769518695771694 ], "right_vector": [ 0.17355360090732574, -0.9848244190216064, -0.00019861158216372132 ], "location": [ 1193.99609375, 4088.87060546875, 365.18389892578125 ], "rotation": [ 0.011380042880773544, 0.5024628639221191, -170.00540161132812 ], "velocity": [ -2.463947057723999, -0.434774249792099, 0.0383787527680397 ], "speed": 2.502011940728708, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 27.477935791015625, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1166.8743896484375, 4084.4814453125, 365.6144714355469 ], "velocity": [ -7.084590435028076, -1.1672515869140625, 0.11434676498174667 ], "speed_kmh": 25.851653160707308, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.078388214111328, "transform": { "location": { "x": 1126.4061279296875, "y": 4081.029052734375, "z": 366.29205322265625 }, "rotation": { "roll": -0.0056457482278347015, "pitch": -1.002220869064331, "yaw": 9.385912895202637 } }, "velocity": { "x": 7.9627909660339355, "y": 1.3470741510391235, "z": -0.19928088784217834 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.351288795471191, "transform": { "location": { "x": 1166.4749755859375, "y": 4087.638916015625, "z": 365.60699462890625 }, "rotation": { "roll": 0.0014459723606705666, "pitch": -0.9211670756340027, "yaw": 9.266876220703125 } }, "velocity": { "x": 8.241239547729492, "y": 1.3446682691574097, "z": -0.1336551010608673 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.300141334533691, "transform": { "location": { "x": 1226.3411865234375, "y": 4094.133056640625, "z": 364.7086181640625 }, "rotation": { "roll": -6.103787018219009e-05, "pitch": 0.8294308185577393, "yaw": -170.76190185546875 } }, "velocity": { "x": -7.205011367797852, "y": -1.1699862480163574, "z": 0.10490524023771286 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.047645568847656, "transform": { "location": { "x": 1247.3272705078125, "y": 4100.78564453125, "z": 364.39111328125 }, "rotation": { "roll": -0.0005493180942721665, "pitch": -0.8577897548675537, "yaw": 9.255989074707031 } }, "velocity": { "x": 7.942291736602783, "y": 1.2924948930740356, "z": -0.11859036237001419 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.0851545333862305, "transform": { "location": { "x": 1209.147216796875, "y": 4091.33642578125, "z": 364.9576416015625 }, "rotation": { "roll": -0.0002136295661330223, "pitch": 0.7722347974777222, "yaw": -170.77796936035156 } }, "velocity": { "x": -6.992664813995361, "y": -1.1363933086395264, "z": 0.10324853658676147 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.1810150146484375, "transform": { "location": { "x": 1166.8743896484375, "y": 4084.4814453125, "z": 365.6144714355469 }, "rotation": { "roll": 0.008853679522871971, "pitch": 1.2563449144363403, "yaw": -170.66497802734375 } }, "velocity": { "x": -7.084590435028076, "y": -1.1672515869140625, "z": 0.11434676498174667 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.460756778717041, "transform": { "location": { "x": 1152.334228515625, "y": 4082.125732421875, "z": 365.84466552734375 }, "rotation": { "roll": 0.004614305682480335, "pitch": 0.8433165550231934, "yaw": -170.48997497558594 } }, "velocity": { "x": -2.4268150329589844, "y": -0.405348539352417, "z": 0.039813507348299026 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.4722900390625, "y": 4088.05078125, "z": 366.2388610839844 }, "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": -0.13121214509010315, "expert_target_speed": 1.9629547141686856, "target_point": [ 37.983842519456495, -0.6073691510473296 ], "target_point_next": [ 74.98064671068057, -1.0980584607175263 ] }, "290": { "acceleration": [ 2.2843527793884277, 0.4032933712005615, -0.05495794117450714 ], "angular_velocity": [ -0.09334324300289154, 0.22519443929195404, -1.0199815034866333 ], "forward_vector": [ -0.9847878813743591, -0.17347775399684906, 0.009913877584040165 ], "right_vector": [ 0.17348439991474152, -0.9848366379737854, -0.00019257701933383942 ], "location": [ 1193.4613037109375, 4088.776123046875, 365.19195556640625 ], "rotation": [ 0.01103439275175333, 0.5680326223373413, -170.00941467285156 ], "velocity": [ -1.8520176410675049, -0.32702335715293884, 0.028357582166790962 ], "speed": 1.8806683968602291, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 28.251741409301758, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1165.574462890625, 4084.272705078125, 365.6438903808594 ], "velocity": [ -2.3185391426086426, -0.3642696440219879, 0.03606606274843216 ], "speed_kmh": 8.450126324357205, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.136515617370605, "transform": { "location": { "x": 1128.4039306640625, "y": 4081.369873046875, "z": 366.2488098144531 }, "rotation": { "roll": -0.012329108081758022, "pitch": -0.9999054670333862, "yaw": 9.758633613586426 } }, "velocity": { "x": 8.014525413513184, "y": 1.3953475952148438, "z": -0.15252387523651123 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.158778190612793, "transform": { "location": { "x": 1168.5108642578125, "y": 4087.970947265625, "z": 365.5742492675781 }, "rotation": { "roll": 0.0026285743806511164, "pitch": -0.9202859997749329, "yaw": 9.255545616149902 } }, "velocity": { "x": 8.051579475402832, "y": 1.3119523525238037, "z": -0.12844786047935486 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.216023445129395, "transform": { "location": { "x": 1224.4051513671875, "y": 4093.818603515625, "z": 364.73675537109375 }, "rotation": { "roll": -9.155392763204873e-05, "pitch": 0.9800569415092468, "yaw": -170.78709411621094 } }, "velocity": { "x": -8.108846664428711, "y": -1.317515254020691, "z": 0.11749116331338882 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.046255111694336, "transform": { "location": { "x": 1249.3126220703125, "y": 4101.10791015625, "z": 364.3612060546875 }, "rotation": { "roll": 0.00016756543482188135, "pitch": -0.863772988319397, "yaw": 9.231922149658203 } }, "velocity": { "x": 7.940845966339111, "y": 1.2926058769226074, "z": -0.11983343958854675 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 4.605757236480713, "transform": { "location": { "x": 1207.6158447265625, "y": 4091.08740234375, "z": 364.97998046875 }, "rotation": { "roll": 0.002291336888447404, "pitch": 0.5401927828788757, "yaw": -170.62158203125 } }, "velocity": { "x": -4.54571533203125, "y": -0.7387635111808777, "z": 0.060843273997306824 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.347257375717163, "transform": { "location": { "x": 1165.574462890625, "y": 4084.272705078125, "z": 365.6438903808594 }, "rotation": { "roll": 0.006125864572823048, "pitch": 0.1842716634273529, "yaw": -170.1931915283203 } }, "velocity": { "x": -2.3185391426086426, "y": -0.3642696440219879, "z": 0.03606606274843216 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 3.1813316345214844, "transform": { "location": { "x": 1151.6304931640625, "y": 4082.008544921875, "z": 365.8556823730469 }, "rotation": { "roll": 0.004021516069769859, "pitch": 0.9355446100234985, "yaw": -170.5236053466797 } }, "velocity": { "x": -3.1379971504211426, "y": -0.5206338167190552, "z": 0.052766598761081696 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.5137939453125, "y": 4088.548583984375, "z": 366.2369079589844 }, "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": -0.14299677312374115, "expert_target_speed": 0.8187584018058714, "target_point": [ 37.440812959886024, -0.6049777282290902 ], "target_point_next": [ 74.43765145511925, -1.0930737434029059 ] }, "295": { "acceleration": [ 1.8220996856689453, 0.3144356608390808, -0.021331757307052612 ], "angular_velocity": [ -0.046099405735731125, 0.20733530819416046, 1.200231909751892 ], "forward_vector": [ -0.9847309589385986, -0.17374490201473236, 0.010844613425433636 ], "right_vector": [ 0.17375284433364868, -0.9847893118858337, -0.0002139028365490958 ], "location": [ 1193.06591796875, 4088.70654296875, 365.19781494140625 ], "rotation": [ 0.012256450951099396, 0.6213627457618713, -169.9937744140625 ], "velocity": [ -1.3473907709121704, -0.23802520334720612, 0.020821476355195045 ], "speed": 1.3682535901534378, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 28.294218063354492, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1165.1363525390625, 4084.201171875, 365.6492614746094 ], "velocity": [ -2.405879259109497, -0.40173912048339844, 0.039718445390462875 ], "speed_kmh": 8.782249167085034, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.12130355834961, "transform": { "location": { "x": 1130.40576171875, "y": 4081.717529296875, "z": 366.21282958984375 }, "rotation": { "roll": -0.01065063290297985, "pitch": -0.9955683350563049, "yaw": 9.896421432495117 } }, "velocity": { "x": 8.001923561096191, "y": 1.3802201747894287, "z": -0.1406409740447998 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.351217269897461, "transform": { "location": { "x": 1170.548583984375, "y": 4088.302978515625, "z": 365.5417785644531 }, "rotation": { "roll": 0.0005017424118705094, "pitch": -0.9132372140884399, "yaw": 9.254203796386719 } }, "velocity": { "x": 8.241522789001465, "y": 1.3427878618240356, "z": -0.13060565292835236 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.330108642578125, "transform": { "location": { "x": 1222.4730224609375, "y": 4093.504638671875, "z": 364.7646789550781 }, "rotation": { "roll": 6.43584571662359e-05, "pitch": 0.7330978512763977, "yaw": -170.75131225585938 } }, "velocity": { "x": -7.234190940856934, "y": -1.1772356033325195, "z": 0.1053149551153183 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.043354034423828, "transform": { "location": { "x": 1251.2978515625, "y": 4101.4306640625, "z": 364.3311767578125 }, "rotation": { "roll": -0.0003967362572439015, "pitch": -0.863301694393158, "yaw": 9.253714561462402 } }, "velocity": { "x": 7.93809175491333, "y": 1.2914090156555176, "z": -0.12041868269443512 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.495770126581192, "transform": { "location": { "x": 1207.2496337890625, "y": 4091.028076171875, "z": 364.98486328125 }, "rotation": { "roll": -0.002410888671875, "pitch": 0.25387129187583923, "yaw": -170.48736572265625 } }, "velocity": { "x": -0.4889872968196869, "y": -0.08142797648906708, "z": 0.006995420437306166 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.439513683319092, "transform": { "location": { "x": 1165.1363525390625, "y": 4084.201171875, "z": 365.6492614746094 }, "rotation": { "roll": -0.010772708803415298, "pitch": 0.37698543071746826, "yaw": -170.208984375 } }, "velocity": { "x": -2.405879259109497, "y": -0.40173912048339844, "z": 0.039718445390462875 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.7697436809539795, "transform": { "location": { "x": 1150.8631591796875, "y": 4081.880615234375, "z": 365.86846923828125 }, "rotation": { "roll": 0.0030556931160390377, "pitch": 0.9397929906845093, "yaw": -170.5451202392578 } }, "velocity": { "x": -2.7320282459259033, "y": -0.4531897306442261, "z": 0.04605473577976227 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.5552978515625, "y": 4089.046875, "z": 366.2349548339844 }, "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": -0.1472514122724533, "expert_target_speed": 0.0, "target_point": [ 37.03918488462037, -0.6150289219908265 ], "target_point_next": [ 74.03588863753838, -1.1132334796002752 ] }, "300": { "acceleration": [ 1.2910330295562744, 0.24276584386825562, -0.0285474956035614 ], "angular_velocity": [ -0.08677166700363159, 0.21563462913036346, -1.2395765781402588 ], "forward_vector": [ -0.9847437143325806, -0.1736072450876236, 0.011846025474369526 ], "right_vector": [ 0.17361700534820557, -0.9848132133483887, -0.0002072911011055112 ], "location": [ 1192.7791748046875, 4088.65576171875, 365.2019348144531 ], "rotation": [ 0.011877737939357758, 0.6787431836128235, -170.00167846679688 ], "velocity": [ -0.9793820977210999, -0.17284253239631653, 0.015930308029055595 ], "speed": 0.9945168848952509, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 28.75157356262207, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1164.3980712890625, 4084.077392578125, 365.6541442871094 ], "velocity": [ -3.371509313583374, -0.5619004368782043, 0.05446816235780716 ], "speed_kmh": 12.306406062493293, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.178255081176758, "transform": { "location": { "x": 1132.4139404296875, "y": 4082.0625, "z": 366.1776123046875 }, "rotation": { "roll": -0.005950923077762127, "pitch": -0.9859309196472168, "yaw": 9.718921661376953 } }, "velocity": { "x": 8.061659812927246, "y": 1.3688569068908691, "z": -0.140464186668396 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.158463478088379, "transform": { "location": { "x": 1172.584228515625, "y": 4088.635009765625, "z": 365.5094299316406 }, "rotation": { "roll": 0.00156368687748909, "pitch": -0.9176631569862366, "yaw": 9.249018669128418 } }, "velocity": { "x": 8.051593780517578, "y": 1.3100042343139648, "z": -0.1274975687265396 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 3.927678346633911, "transform": { "location": { "x": 1220.941650390625, "y": 4093.255126953125, "z": 364.7865905761719 }, "rotation": { "roll": -0.004974365234375, "pitch": 0.2698470950126648, "yaw": -170.95082092285156 } }, "velocity": { "x": -3.875291347503662, "y": -0.6371974349021912, "z": 0.05247849225997925 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.792176723480225, "transform": { "location": { "x": 1253.2579345703125, "y": 4101.74951171875, "z": 364.3013916015625 }, "rotation": { "roll": -0.0008544811280444264, "pitch": -0.90777987241745, "yaw": 9.231802940368652 } }, "velocity": { "x": 7.690028667449951, "y": 1.2520207166671753, "z": -0.11800975352525711 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 1.6292673349380493, "transform": { "location": { "x": 1206.952880859375, "y": 4090.979248046875, "z": 364.9901428222656 }, "rotation": { "roll": 0.002942778868600726, "pitch": 0.8466907143592834, "yaw": -170.54034423828125 } }, "velocity": { "x": -1.6077302694320679, "y": -0.263019859790802, "z": 0.02314421534538269 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.4184460639953613, "transform": { "location": { "x": 1164.3980712890625, "y": 4084.077392578125, "z": 365.6541442871094 }, "rotation": { "roll": 0.011066115461289883, "pitch": 1.2852298021316528, "yaw": -170.30555725097656 } }, "velocity": { "x": -3.371509313583374, "y": -0.5619004368782043, "z": 0.05446816235780716 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.0614943504333496, "transform": { "location": { "x": 1150.2904052734375, "y": 4081.78564453125, "z": 365.87823486328125 }, "rotation": { "roll": 0.0024990462698042393, "pitch": 0.923161506652832, "yaw": -170.55645751953125 } }, "velocity": { "x": -2.0334596633911133, "y": -0.3370426893234253, "z": 0.03467998281121254 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.5968017578125, "y": 4089.544921875, "z": 366.2330017089844 }, "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": -0.1520308256149292, "expert_target_speed": 0.0, "target_point": [ 36.74806462233643, -0.6101329914743685 ], "target_point_next": [ 73.74483691463557, -1.103221537443435 ] }, "305": { "acceleration": [ 0.559237003326416, 0.08577793836593628, -0.016663167625665665 ], "angular_velocity": [ -0.051620084792375565, 0.2633051872253418, 1.33205246925354 ], "forward_vector": [ -0.9846840500831604, -0.1738746017217636, 0.012845401652157307 ], "right_vector": [ 0.17388631403446198, -0.9847657680511475, -0.00020907192083541304 ], "location": [ 1192.5693359375, 4088.618896484375, 365.2049865722656 ], "rotation": [ 0.011979926377534866, 0.7360075116157532, -169.98599243164062 ], "velocity": [ -0.737427830696106, -0.13039429485797882, 0.012035979889333248 ], "speed": 0.7488674633182257, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 29.529123306274414, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1163.4210205078125, 4083.914794921875, 365.6701354980469 ], "velocity": [ -4.4342875480651855, -0.7302360534667969, 0.07137744873762131 ], "speed_kmh": 16.180486444725485, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 7.28649377822876, "transform": { "location": { "x": 1134.2747802734375, "y": 4082.3779296875, "z": 366.1453857421875 }, "rotation": { "roll": -0.005737308878451586, "pitch": -1.002070665359497, "yaw": 9.602853775024414 } }, "velocity": { "x": 7.1839423179626465, "y": 1.211615800857544, "z": -0.1263042837381363 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.799824237823486, "transform": { "location": { "x": 1174.5819091796875, "y": 4088.9599609375, "z": 365.4781799316406 }, "rotation": { "roll": 0.0001526836131233722, "pitch": -1.0348418951034546, "yaw": 9.242734909057617 } }, "velocity": { "x": 7.6976141929626465, "y": 1.2526886463165283, "z": -0.12150782346725464 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.4539485275745392, "transform": { "location": { "x": 1220.66162109375, "y": 4093.208984375, "z": 364.79052734375 }, "rotation": { "roll": 0.006671413779258728, "pitch": 0.07843788713216782, "yaw": -170.9935302734375 } }, "velocity": { "x": -0.44833293557167053, "y": -0.07084817439317703, "z": 0.006885213777422905 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.4290995597839355, "transform": { "location": { "x": 1255.1298828125, "y": 4102.05419921875, "z": 364.27276611328125 }, "rotation": { "roll": -0.0008850150043144822, "pitch": -0.9385908842086792, "yaw": 9.262237548828125 } }, "velocity": { "x": 7.3314738273620605, "y": 1.1952004432678223, "z": -0.11184366792440414 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 2.784743309020996, "transform": { "location": { "x": 1206.4171142578125, "y": 4090.891845703125, "z": 364.9982604980469 }, "rotation": { "roll": 0.00407089339569211, "pitch": 0.9956161379814148, "yaw": -170.59532165527344 } }, "velocity": { "x": -2.7479119300842285, "y": -0.44944125413894653, "z": 0.04216930270195007 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.494579792022705, "transform": { "location": { "x": 1163.4210205078125, "y": 4083.914794921875, "z": 365.6701354980469 }, "rotation": { "roll": 0.01393373403698206, "pitch": 1.2603132724761963, "yaw": -170.44515991210938 } }, "velocity": { "x": -4.4342875480651855, "y": -0.7302360534667969, "z": 0.07137744873762131 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.6567686796188354, "transform": { "location": { "x": 1150.009765625, "y": 4081.739013671875, "z": 365.88323974609375 }, "rotation": { "roll": 0.002668176544830203, "pitch": 0.8976848721504211, "yaw": -170.58326721191406 } }, "velocity": { "x": -0.647739827632904, "y": -0.10788257420063019, "z": 0.01181447971612215 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.6383056640625, "y": 4090.04296875, "z": 366.2310485839844 }, "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": -0.1550896316766739, "expert_target_speed": 1.911988962831091, "target_point": [ 36.53484376445035, -0.6200061020640373 ], "target_point_next": [ 73.53147971039182, -1.1232208135647141 ] }, "310": { "acceleration": [ -0.5294561386108398, -0.09821116924285889, 0.005966387689113617 ], "angular_velocity": [ -0.09787794202566147, 0.5102376341819763, 0.017922475934028625 ], "forward_vector": [ -0.9846752882003784, -0.17377914488315582, 0.014672467485070229 ], "right_vector": [ 0.17379480600357056, -0.9847818613052368, -0.00021153919806238264 ], "location": [ 1192.385009765625, 4088.586181640625, 365.2074890136719 ], "rotation": [ 0.012121608480811119, 0.840700626373291, -169.9912872314453 ], "velocity": [ -0.8071624040603638, -0.14280763268470764, 0.011861000210046768 ], "speed": 0.8196982167124168, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 30.426088333129883, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1162.3515625, 4083.738037109375, 365.69158935546875 ], "velocity": [ -2.3482353687286377, -0.38594552874565125, 0.0378013513982296 ], "speed_kmh": 8.568145390570612, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.140257835388184, "transform": { "location": { "x": 1136.1571044921875, "y": 4082.693603515625, "z": 366.1123046875 }, "rotation": { "roll": -0.0033569377847015858, "pitch": -0.9690535068511963, "yaw": 9.49079418182373 } }, "velocity": { "x": 8.029265403747559, "y": 1.3324004411697388, "z": -0.13931503891944885 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.915344715118408, "transform": { "location": { "x": 1176.302978515625, "y": 4089.2392578125, "z": 365.4522705078125 }, "rotation": { "roll": 0.0013289803173393011, "pitch": -1.385462760925293, "yaw": 9.35348892211914 } }, "velocity": { "x": 5.837840557098389, "y": 0.9499041438102722, "z": -0.09274882823228836 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 1.9889822006225586, "transform": { "location": { "x": 1220.3294677734375, "y": 4093.1552734375, "z": 364.795654296875 }, "rotation": { "roll": -0.002532962244004011, "pitch": 0.8956631422042847, "yaw": -170.93687438964844 } }, "velocity": { "x": -1.9632568359375, "y": -0.3175978660583496, "z": 0.02836441993713379 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.247946739196777, "transform": { "location": { "x": 1256.9385986328125, "y": 4102.34912109375, "z": 364.2451477050781 }, "rotation": { "roll": -6.103931809775531e-05, "pitch": -0.9182983636856079, "yaw": 9.23780632019043 } }, "velocity": { "x": 7.1530442237854, "y": 1.1638338565826416, "z": -0.1103878766298294 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 4.367591857910156, "transform": { "location": { "x": 1205.5196533203125, "y": 4090.7451171875, "z": 365.01190185546875 }, "rotation": { "roll": 0.0027086788322776556, "pitch": 1.0813759565353394, "yaw": -170.66587829589844 } }, "velocity": { "x": -4.310193061828613, "y": -0.7027591466903687, "z": 0.06498901546001434 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.380040407180786, "transform": { "location": { "x": 1162.3515625, "y": 4083.738037109375, "z": 365.69158935546875 }, "rotation": { "roll": 0.0035974918864667416, "pitch": 0.7444905638694763, "yaw": -170.55517578125 } }, "velocity": { "x": -2.3482353687286377, "y": -0.38594552874565125, "z": 0.0378013513982296 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 1.1545506715774536, "transform": { "location": { "x": 1149.7823486328125, "y": 4081.700439453125, "z": 365.8865966796875 }, "rotation": { "roll": 0.0016662306152284145, "pitch": 0.9550516605377197, "yaw": -170.65806579589844 } }, "velocity": { "x": -1.1390546560287476, "y": -0.18760062754154205, "z": 0.01864592544734478 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [ { "id": 5946, "type": "walker.pedestrian.0003", "speed_kmh": 1.9990928173065186, "transform": { "location": { "x": 1187.6798095703125, "y": 4090.541259765625, "z": 366.2290954589844 }, "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": -0.15781426429748535, "expert_target_speed": 1.9832114276253061, "target_point": [ 36.3476939227235, -0.6168252694308753 ], "target_point_next": [ 73.34437602262878, -1.1166351942511081 ] }, "315": { "acceleration": [ -2.240583896636963, -0.38515418767929077, 0.01981504261493683 ], "angular_velocity": [ -0.08259499073028564, 0.5903224945068359, 0.20915170013904572 ], "forward_vector": [ -0.9846410751342773, -0.1737200766801834, 0.01741762086749077 ], "right_vector": [ 0.17374274134635925, -0.984791100025177, -0.00021560932509601116 ], "location": [ 1192.125, 4088.54052734375, 365.2109375 ], "rotation": [ 0.012355378828942776, 0.9980067014694214, -169.99427795410156 ], "velocity": [ -1.2903552055358887, -0.22795388102531433, 0.018769368529319763 ], "speed": 1.31033565483355, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 30.253273010253906, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1162.26171875, 4083.72314453125, 365.69854736328125 ], "velocity": [ 0.0054242247715592384, 0.0006002113805152476, -0.0002435029309708625 ], "speed_kmh": 0.019665940920640036, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.250685691833496, "transform": { "location": { "x": 1138.2176513671875, "y": 4083.03515625, "z": 366.0767517089844 }, "rotation": { "roll": -0.0023193249944597483, "pitch": -0.965392529964447, "yaw": 9.388111114501953 } }, "velocity": { "x": 8.139400482177734, "y": 1.3431270122528076, "z": -0.1413717120885849 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.016236823052167892, "transform": { "location": { "x": 1177.00830078125, "y": 4089.35302734375, "z": 365.4459533691406 }, "rotation": { "roll": -0.020690904930233955, "pitch": -2.755004405975342, "yaw": 9.513513565063477 } }, "velocity": { "x": 0.01609002985060215, "y": 0.0013530373107641935, "z": -0.0017072352347895503 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 3.4668052196502686, "transform": { "location": { "x": 1219.6619873046875, "y": 4093.04736328125, "z": 364.805419921875 }, "rotation": { "roll": -0.002410882618278265, "pitch": 1.085863471031189, "yaw": -170.8938446044922 } }, "velocity": { "x": -3.4219441413879395, "y": -0.5537261962890625, "z": 0.04923458769917488 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 6.986813068389893, "transform": { "location": { "x": 1258.6954345703125, "y": 4102.634765625, "z": 364.2182312011719 }, "rotation": { "roll": -3.0519749998347834e-05, "pitch": -0.9292608499526978, "yaw": 9.256669044494629 } }, "velocity": { "x": 6.89522647857666, "y": 1.1224457025527954, "z": -0.10734803229570389 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 5.235747814178467, "transform": { "location": { "x": 1204.2861328125, "y": 4090.544677734375, "z": 365.0306701660156 }, "rotation": { "roll": 0.002740907482802868, "pitch": 1.0200135707855225, "yaw": -170.7492218017578 } }, "velocity": { "x": -5.167367458343506, "y": -0.8398220539093018, "z": 0.07790102064609528 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.005462761502712965, "transform": { "location": { "x": 1162.26171875, "y": 4083.72314453125, "z": 365.69854736328125 }, "rotation": { "roll": -0.002197265625, "pitch": 0.06106188893318176, "yaw": -170.5652313232422 } }, "velocity": { "x": 0.0054242247715592384, "y": 0.0006002113805152476, "z": -0.0002435029309708625 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 1.5589041709899902, "transform": { "location": { "x": 1149.4322509765625, "y": 4081.643310546875, "z": 365.8924560546875 }, "rotation": { "roll": 0.0023924403358250856, "pitch": 0.9663487672805786, "yaw": -170.63238525390625 } }, "velocity": { "x": -1.5380964279174805, "y": -0.25254666805267334, "z": 0.025725116953253746 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.15969130396842957, "expert_target_speed": 2.466817691736454, "target_point": [ 36.08373853507045, -0.6147201431241367 ], "target_point_next": [ 73.08044656274973, -1.1126071554597914 ] }, "320": { "acceleration": [ -1.9260907173156738, -0.3417247533798218, 0.026293769478797913 ], "angular_velocity": [ -0.061226919293403625, 0.14887598156929016, -0.0564546175301075 ], "forward_vector": [ -0.9845633506774902, -0.17405663430690765, 0.01841774769127369 ], "right_vector": [ 0.17408250272274017, -0.9847310781478882, -0.00020179686543997377 ], "location": [ 1191.750732421875, 4088.474365234375, 365.2164306640625 ], "rotation": [ 0.011564070358872414, 1.055318832397461, -169.97451782226562 ], "velocity": [ -1.7033833265304565, -0.30177435278892517, 0.025895699858665466 ], "speed": 1.7299082395038006, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 29.95882797241211, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1162.1771240234375, 4083.709228515625, 365.6923828125 ], "velocity": [ -0.5825018882751465, -0.09599778801202774, 0.009728479199111462 ], "speed_kmh": 2.1255817893402127, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 7.916563987731934, "transform": { "location": { "x": 1140.1990966796875, "y": 4083.36181640625, "z": 366.0427551269531 }, "rotation": { "roll": -0.0012512344401329756, "pitch": -0.979121208190918, "yaw": 9.341801643371582 } }, "velocity": { "x": 7.810923099517822, "y": 1.2818840742111206, "z": -0.13502979278564453 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.08997590094804764, "transform": { "location": { "x": 1177.0145263671875, "y": 4089.354248046875, "z": 365.4427795410156 }, "rotation": { "roll": -0.01785278506577015, "pitch": -1.93924081325531, "yaw": 9.513330459594727 } }, "velocity": { "x": 0.08875955641269684, "y": 0.014744073152542114, "z": 0.00012570380931720138 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 4.2471604347229, "transform": { "location": { "x": 1218.6485595703125, "y": 4092.883056640625, "z": 364.8200988769531 }, "rotation": { "roll": -0.0029602060094475746, "pitch": 1.031488299369812, "yaw": -170.8404998779297 } }, "velocity": { "x": -4.191941261291504, "y": -0.6799131035804749, "z": 0.06097301468253136 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 6.724416732788086, "transform": { "location": { "x": 1260.383544921875, "y": 4102.9091796875, "z": 364.1922607421875 }, "rotation": { "roll": 0.00031839965959079564, "pitch": -0.9325256943702698, "yaw": 9.231654167175293 } }, "velocity": { "x": 6.636246681213379, "y": 1.0804657936096191, "z": -0.10296392440795898 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.002457526046782732, "transform": { "location": { "x": 1203.7601318359375, "y": 4090.459228515625, "z": 365.0371398925781 }, "rotation": { "roll": 0.005126977805048227, "pitch": 0.26368626952171326, "yaw": -171.20303344726562 } }, "velocity": { "x": 0.0020050909370183945, "y": 0.000799795612692833, "z": 0.00117446668446064 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.5904393792152405, "transform": { "location": { "x": 1162.1771240234375, "y": 4083.709228515625, "z": 365.6923828125 }, "rotation": { "roll": 0.004113796167075634, "pitch": 1.001435399055481, "yaw": -170.553466796875 } }, "velocity": { "x": -0.5825018882751465, "y": -0.09599778801202774, "z": 0.009728479199111462 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 1.8107805252075195, "transform": { "location": { "x": 1149.0235595703125, "y": 4081.576171875, "z": 365.8992919921875 }, "rotation": { "roll": 0.0014010531594976783, "pitch": 0.9618203639984131, "yaw": -170.63888549804688 } }, "velocity": { "x": -1.786609411239624, "y": -0.2933669686317444, "z": 0.02981167659163475 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.16577735543251038, "expert_target_speed": 2.8812135518154567, "target_point": [ 35.70345418434839, -0.6271400631509252 ], "target_point_next": [ 72.6999886087281, -1.1377641402243892 ] }, "325": { "acceleration": [ -3.058781623840332, -0.5439263582229614, 0.05272425711154938 ], "angular_velocity": [ -0.036304742097854614, 0.3826863467693329, 0.07864900678396225 ], "forward_vector": [ -0.9845236539840698, -0.17413966357707977, 0.019712718203663826 ], "right_vector": [ 0.17416928708553314, -0.9847157597541809, -0.00021740513329859823 ], "location": [ 1191.244140625, 4088.38427734375, 365.2239074707031 ], "rotation": [ 0.012458818033337593, 1.1295287609100342, -169.9694366455078 ], "velocity": [ -2.362731695175171, -0.41874492168426514, 0.035916365683078766 ], "speed": 2.3995517024689628, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 29.675134658813477, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1161.9493408203125, 4083.671875, 365.69464111328125 ], "velocity": [ -1.234266757965088, -0.2018982470035553, 0.02009761705994606 ], "speed_kmh": 4.502995997154818, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.134648323059082, "transform": { "location": { "x": 1142.1749267578125, "y": 4083.685791015625, "z": 366.0086975097656 }, "rotation": { "roll": -0.0011291424743831158, "pitch": -0.9653652310371399, "yaw": 9.298627853393555 } }, "velocity": { "x": 8.026941299438477, "y": 1.3123862743377686, "z": -0.13548004627227783 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.4183918237686157, "transform": { "location": { "x": 1177.2413330078125, "y": 4089.391357421875, "z": 365.43560791015625 }, "rotation": { "roll": -0.0031127913389354944, "pitch": -0.9260233640670776, "yaw": 9.463155746459961 } }, "velocity": { "x": 1.3997516632080078, "y": 0.22817905247211456, "z": -0.02156011015176773 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 2.902998447418213, "transform": { "location": { "x": 1217.7672119140625, "y": 4092.739990234375, "z": 364.8329162597656 }, "rotation": { "roll": -0.0011596712283790112, "pitch": 0.6727257966995239, "yaw": -170.80723571777344 } }, "velocity": { "x": -2.8651750087738037, "y": -0.4652154743671417, "z": 0.04178571701049805 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 1262.0755615234375, "y": 4103.11083984375, "z": 364.1660461425781 }, "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": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 1.6645057201385498, "transform": { "location": { "x": 1203.4957275390625, "y": 4090.416748046875, "z": 365.0419921875 }, "rotation": { "roll": -0.004364002496004105, "pitch": 0.8664777278900146, "yaw": -171.09841918945312 } }, "velocity": { "x": -1.6433467864990234, "y": -0.26340794563293457, "z": 0.024630079045891762 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.250832200050354, "transform": { "location": { "x": 1161.9493408203125, "y": 4083.671875, "z": 365.69464111328125 }, "rotation": { "roll": 0.004014394711703062, "pitch": 1.184819221496582, "yaw": -170.5730438232422 } }, "velocity": { "x": -1.234266757965088, "y": -0.2018982470035553, "z": 0.02009761705994606 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.3309292793273926, "transform": { "location": { "x": 1148.5113525390625, "y": 4081.4921875, "z": 365.9079284667969 }, "rotation": { "roll": 0.0016033702995628119, "pitch": 0.9710342884063721, "yaw": -170.64907836914062 } }, "velocity": { "x": -2.2998054027557373, "y": -0.37770405411720276, "z": 0.038288965821266174 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.17468920350074768, "expert_target_speed": 3.5395199251817626, "target_point": [ 35.18885896761223, -0.6307828808072218 ], "target_point_next": [ 72.18534795835727, -1.1446882418229656 ] }, "330": { "acceleration": [ -3.4262561798095703, -0.650789737701416, 0.060199424624443054 ], "angular_velocity": [ -0.04412626847624779, 0.26847562193870544, 0.33710768818855286 ], "forward_vector": [ -0.9843392372131348, -0.17499807476997375, 0.021260803565382957 ], "right_vector": [ 0.17503659427165985, -0.9845619201660156, -4.9820748245110735e-05 ], "location": [ 1190.5443115234375, 4088.25927734375, 365.234375 ], "rotation": [ 0.002855163998901844, 1.2182461023330688, -169.91915893554688 ], "velocity": [ -3.203813076019287, -0.5798189043998718, 0.04928340017795563 ], "speed": 3.255857519605493, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 29.428495407104492, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1161.4913330078125, 4083.596435546875, 365.70208740234375 ], "velocity": [ -2.325300931930542, -0.38101038336753845, 0.03829311206936836 ], "speed_kmh": 8.483833431603273, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.102676391601562, "transform": { "location": { "x": 1144.1864013671875, "y": 4084.014892578125, "z": 365.9745178222656 }, "rotation": { "roll": 0.00041663963929750025, "pitch": -0.9573944211006165, "yaw": 9.278149604797363 } }, "velocity": { "x": 7.99554967880249, "y": 1.3062684535980225, "z": -0.13490770757198334 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.4177613258361816, "transform": { "location": { "x": 1177.716064453125, "y": 4089.46923828125, "z": 365.4269714355469 }, "rotation": { "roll": -0.0008850092999637127, "pitch": -0.6067188382148743, "yaw": 9.439518928527832 } }, "velocity": { "x": 2.385850429534912, "y": 0.3896821141242981, "z": -0.03788230940699577 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0025538576301187277, "transform": { "location": { "x": 1217.406494140625, "y": 4092.681884765625, "z": 364.8380432128906 }, "rotation": { "roll": 0.0, "pitch": 0.2756732404232025, "yaw": -170.72329711914062 } }, "velocity": { "x": 0.0025288802571594715, "y": 0.0002500458213035017, "z": 0.00025383170577697456 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 1263.70068359375, "y": 4103.3583984375, "z": 364.14080810546875 }, "rotation": { "roll": 0.0, "pitch": -0.8828087449073792, "yaw": 9.234708786010742 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 2.2189929485321045, "transform": { "location": { "x": 1202.97314453125, "y": 4090.33251953125, "z": 365.0499267578125 }, "rotation": { "roll": -0.0031433028634637594, "pitch": 0.9314601421356201, "yaw": -170.905029296875 } }, "velocity": { "x": -2.1905219554901123, "y": -0.3528333902359009, "z": 0.032423295080661774 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.3566203117370605, "transform": { "location": { "x": 1161.4913330078125, "y": 4083.596435546875, "z": 365.70208740234375 }, "rotation": { "roll": 0.004011539742350578, "pitch": 1.1852699518203735, "yaw": -170.6068878173828 } }, "velocity": { "x": -2.325300931930542, "y": -0.38101038336753845, "z": 0.03829311206936836 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 2.847820520401001, "transform": { "location": { "x": 1147.870361328125, "y": 4081.38671875, "z": 365.9185485839844 }, "rotation": { "roll": 0.0022335094399750233, "pitch": 0.9767511487007141, "yaw": -170.6586151123047 } }, "velocity": { "x": -2.809852123260498, "y": -0.4609955847263336, "z": 0.04791390150785446 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.18952006101608276, "expert_target_speed": 4.373511474293632, "target_point": [ 34.47738700699851, -0.6622473066041499 ], "target_point_next": [ 71.4734106069141, -1.208630099972769 ] }, "335": { "acceleration": [ -3.241910934448242, -0.5977237224578857, 0.031765326857566833 ], "angular_velocity": [ -0.03730197623372078, 0.06139417365193367, 0.44293490052223206 ], "forward_vector": [ -0.9840404987335205, -0.17657551169395447, 0.02203071489930153 ], "right_vector": [ 0.17661629617214203, -0.9842797517776489, -9.616871830075979e-05 ], "location": [ 1189.630615234375, 4088.09375, 365.24835205078125 ], "rotation": [ 0.005511399358510971, 1.262369155883789, -169.8271484375 ], "velocity": [ -4.057124137878418, -0.737627387046814, 0.062460076063871384 ], "speed": 4.123633159275593, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 28.816097259521484, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1161.1795654296875, 4083.545166015625, 365.7127380371094 ], "velocity": [ -0.004947117064148188, -0.0006765610305592418, 7.49090759200044e-05 ], "speed_kmh": 0.017977418675541305, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.008586883544922, "transform": { "location": { "x": 1146.166748046875, "y": 4084.338134765625, "z": 365.9410095214844 }, "rotation": { "roll": -0.0019836414139717817, "pitch": -0.960331380367279, "yaw": 9.269274711608887 } }, "velocity": { "x": 7.9029083251953125, "y": 1.2897708415985107, "z": -0.1341414451599121 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 3.6552648544311523, "transform": { "location": { "x": 1178.4598388671875, "y": 4089.590576171875, "z": 365.4146423339844 }, "rotation": { "roll": 0.0009925146587193012, "pitch": -0.4417697787284851, "yaw": 9.37641716003418 } }, "velocity": { "x": 3.607220411300659, "y": 0.587922215461731, "z": -0.05717896670103073 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 1.2381230592727661, "transform": { "location": { "x": 1217.232177734375, "y": 4092.6533203125, "z": 364.8407287597656 }, "rotation": { "roll": 0.0005362160154618323, "pitch": 0.8541151285171509, "yaw": -170.73202514648438 } }, "velocity": { "x": -1.2218681573867798, "y": -0.19916316866874695, "z": 0.017920540645718575 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 1265.2664794921875, "y": 4103.60888671875, "z": 364.11639404296875 }, "rotation": { "roll": 0.0, "pitch": -0.8828087449073792, "yaw": 9.234708786010742 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.31694868206977844, "transform": { "location": { "x": 1202.776123046875, "y": 4090.300537109375, "z": 365.052490234375 }, "rotation": { "roll": -0.004058834630995989, "pitch": 0.6426251530647278, "yaw": -170.8162384033203 } }, "velocity": { "x": -0.3124847114086151, "y": -0.052775196731090546, "z": 0.004953803960233927 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.004993727430701256, "transform": { "location": { "x": 1161.1795654296875, "y": 4083.545166015625, "z": 365.7127380371094 }, "rotation": { "roll": 0.0011825293768197298, "pitch": 0.5072507858276367, "yaw": -170.62725830078125 } }, "velocity": { "x": -0.004947117064148188, "y": -0.0006765610305592418, "z": 7.49090759200044e-05 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 3.460958242416382, "transform": { "location": { "x": 1147.0921630859375, "y": 4081.259033203125, "z": 365.9317626953125 }, "rotation": { "roll": 0.0014488791348412633, "pitch": 0.980323314666748, "yaw": -170.6686248779297 } }, "velocity": { "x": -3.414919853210449, "y": -0.5596895813941956, "z": 0.05746215581893921 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.21137651801109314, "expert_target_speed": 5.187322947446578, "target_point": [ 33.54771171594833, -0.7191501939153726 ], "target_point_next": [ 70.54281041115257, -1.3249297697493887 ] }, "340": { "acceleration": [ -2.4521732330322266, -0.3352367877960205, 0.019372999668121338 ], "angular_velocity": [ 0.12997566163539886, -0.19152572751045227, -0.4675469696521759 ], "forward_vector": [ -0.9840371608734131, -0.17662139236927032, 0.021813567727804184 ], "right_vector": [ 0.17665325105190277, -0.9842730760574341, -0.0004732699308078736 ], "location": [ 1188.5184326171875, 4087.8935546875, 365.26568603515625 ], "rotation": [ 0.027122825384140015, 1.2499245405197144, -169.82452392578125 ], "velocity": [ -4.776209831237793, -0.8470919728279114, 0.07387828826904297 ], "speed": 4.850746866456961, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 27.88116455078125, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1160.987060546875, 4083.513671875, 365.7123718261719 ], "velocity": [ -1.2701687812805176, -0.20795628428459167, 0.02073782868683338 ], "speed_kmh": 4.634088875087149, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.128260612487793, "transform": { "location": { "x": 1148.16015625, "y": 4084.6630859375, "z": 365.9073486328125 }, "rotation": { "roll": 0.0012300373055040836, "pitch": -0.951875627040863, "yaw": 9.254152297973633 } }, "velocity": { "x": 8.0216064453125, "y": 1.305448293685913, "z": -0.135123148560524 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.0014801025390625, "transform": { "location": { "x": 1179.537841796875, "y": 4089.766357421875, "z": 365.3972473144531 }, "rotation": { "roll": 0.002967329230159521, "pitch": -0.33456313610076904, "yaw": 9.311891555786133 } }, "velocity": { "x": 4.93587589263916, "y": 0.8036966323852539, "z": -0.07746927440166473 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 2.4411675930023193, "transform": { "location": { "x": 1216.7650146484375, "y": 4092.5771484375, "z": 364.8476867675781 }, "rotation": { "roll": 0.0007996366475708783, "pitch": 1.037225604057312, "yaw": -170.7110137939453 } }, "velocity": { "x": -2.409142017364502, "y": -0.3926796615123749, "z": 0.03372088447213173 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5985, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 1266.77734375, "y": 4103.8505859375, "z": 364.09295654296875 }, "rotation": { "roll": 0.0, "pitch": -0.8828087449073792, "yaw": 9.234708786010742 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 1.2413469552993774, "transform": { "location": { "x": 1202.57177734375, "y": 4090.267333984375, "z": 365.0559387207031 }, "rotation": { "roll": -0.00155640731099993, "pitch": 0.914309561252594, "yaw": -170.8279571533203 } }, "velocity": { "x": -1.2252074480056763, "y": -0.19864913821220398, "z": 0.018641633912920952 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.2872469425201416, "transform": { "location": { "x": 1160.987060546875, "y": 4083.513671875, "z": 365.7123718261719 }, "rotation": { "roll": 0.0014940553810447454, "pitch": 0.9335843324661255, "yaw": -170.67605590820312 } }, "velocity": { "x": -1.2701687812805176, "y": -0.20795628428459167, "z": 0.02073782868683338 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 4.258679389953613, "transform": { "location": { "x": 1146.140625, "y": 4081.10302734375, "z": 365.94781494140625 }, "rotation": { "roll": 0.00099558022338897, "pitch": 0.9846058487892151, "yaw": -170.67909240722656 } }, "velocity": { "x": -4.201880931854248, "y": -0.6894598007202148, "z": 0.07204393297433853 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.22933775186538696, "expert_target_speed": 5.859698172609296, "target_point": [ 32.41762177309149, -0.7212662746573679 ], "target_point_next": [ 69.41269240947632, -1.3287569917025213 ] }, "345": { "acceleration": [ -1.081380844116211, -0.1039266586303711, 0.024967938661575317 ], "angular_velocity": [ 0.15374396741390228, -0.5871317982673645, 1.1777020692825317 ], "forward_vector": [ -0.9845107793807983, -0.17424897849559784, 0.019386030733585358 ], "right_vector": [ 0.174270898103714, -0.9846975803375244, -0.0005655667046085 ], "location": [ 1187.281494140625, 4087.67578125, 365.28570556640625 ], "rotation": [ 0.03241067752242088, 1.1108072996139526, -169.963134765625 ], "velocity": [ -5.012551784515381, -0.8741509318351746, 0.07848325371742249 ], "speed": 5.08820353799616, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 27.10185432434082, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1160.5167236328125, 4083.4365234375, 365.71728515625 ], "velocity": [ -2.5392096042633057, -0.4141310751438141, 0.041847553104162216 ], "speed_kmh": 9.263158299743525, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.042993545532227, "transform": { "location": { "x": 1150.1556396484375, "y": 4084.9873046875, "z": 365.8738098144531 }, "rotation": { "roll": 0.0005261762998998165, "pitch": -0.945400595664978, "yaw": 9.242767333984375 } }, "velocity": { "x": 7.937516212463379, "y": 1.291443109512329, "z": -0.1332547664642334 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.335392475128174, "transform": { "location": { "x": 1180.8431396484375, "y": 4089.979248046875, "z": 365.3779296875 }, "rotation": { "roll": 0.0011160856811329722, "pitch": -0.5608814358711243, "yaw": 9.268953323364258 } }, "velocity": { "x": 5.2654829025268555, "y": 0.856988787651062, "z": -0.08170880377292633 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.011313230730593204, "transform": { "location": { "x": 1216.3236083984375, "y": 4092.505615234375, "z": 364.85394287109375 }, "rotation": { "roll": 0.0002400929806753993, "pitch": 0.5009055733680725, "yaw": -170.71951293945312 } }, "velocity": { "x": -0.011070873588323593, "y": -0.0020783068612217903, "z": -0.001051463419571519 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 2.157283067703247, "transform": { "location": { "x": 1202.150390625, "y": 4090.19873046875, "z": 365.0623474121094 }, "rotation": { "roll": -0.0012207083636894822, "pitch": 0.9809926748275757, "yaw": -170.74649047851562 } }, "velocity": { "x": -2.1290135383605957, "y": -0.34667158126831055, "z": 0.03148182854056358 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.5730996131896973, "transform": { "location": { "x": 1160.5167236328125, "y": 4083.4365234375, "z": 365.71728515625 }, "rotation": { "roll": 0.0028058651369065046, "pitch": 1.2784268856048584, "yaw": -170.71661376953125 } }, "velocity": { "x": -2.5392096042633057, "y": -0.4141310751438141, "z": 0.041847553104162216 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.211641311645508, "transform": { "location": { "x": 1144.969482421875, "y": 4080.91064453125, "z": 365.9677734375 }, "rotation": { "roll": 0.0013351875822991133, "pitch": 0.9897216558456421, "yaw": -170.68116760253906 } }, "velocity": { "x": -5.142082214355469, "y": -0.8438342809677124, "z": 0.0902009978890419 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.23291455209255219, "expert_target_speed": 6.076356104716388, "target_point": [ 31.163309878930356, -0.6416957044764757 ], "target_point_next": [ 68.15974203887968, -1.159676202822057 ] }, "350": { "acceleration": [ 1.1987590789794922, 0.24663686752319336, -0.006090104579925537 ], "angular_velocity": [ 0.1352536380290985, -0.7270660996437073, -0.7947930097579956 ], "forward_vector": [ -0.9847713112831116, -0.17301420867443085, 0.017075302079319954 ], "right_vector": [ 0.1730322688817978, -0.9849160313606262, -0.0004251862410455942 ], "location": [ 1186.0291748046875, 4087.457763671875, 365.30572509765625 ], "rotation": [ 0.024364929646253586, 0.9783903956413269, -170.03541564941406 ], "velocity": [ -4.968879222869873, -0.8614472150802612, 0.07889144867658615 ], "speed": 5.043000300995177, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 26.709857940673828, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1159.649169921875, 4083.294677734375, 365.7306213378906 ], "velocity": [ -4.411354064941406, -0.7211788296699524, 0.0719057098031044 ], "speed_kmh": 16.09377736026473, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.085992813110352, "transform": { "location": { "x": 1152.1435546875, "y": 4085.310791015625, "z": 365.8406066894531 }, "rotation": { "roll": 0.00010809044033521786, "pitch": -0.9452776312828064, "yaw": 9.235716819763184 } }, "velocity": { "x": 7.9800944328308105, "y": 1.2974940538406372, "z": -0.13371796905994415 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 6.908813953399658, "transform": { "location": { "x": 1182.3465576171875, "y": 4090.2236328125, "z": 365.3536376953125 }, "rotation": { "roll": 0.0005093904910609126, "pitch": -0.37954676151275635, "yaw": 9.247876167297363 } }, "velocity": { "x": 6.818448543548584, "y": 1.1086117029190063, "z": -0.10700948536396027 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 1.0278770923614502, "transform": { "location": { "x": 1216.202880859375, "y": 4092.48583984375, "z": 364.8557434082031 }, "rotation": { "roll": 6.357295933412388e-05, "pitch": 0.8406391739845276, "yaw": -170.71922302246094 } }, "velocity": { "x": -1.0142256021499634, "y": -0.16635958850383759, "z": 0.014218492433428764 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 3.652303457260132, "transform": { "location": { "x": 1201.439697265625, "y": 4090.083251953125, "z": 365.0731506347656 }, "rotation": { "roll": -0.0003662054950837046, "pitch": 1.0659602880477905, "yaw": -170.75233459472656 } }, "velocity": { "x": -3.604569435119629, "y": -0.5860878229141235, "z": 0.053864363580942154 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.470493793487549, "transform": { "location": { "x": 1159.649169921875, "y": 4083.294677734375, "z": 365.7306213378906 }, "rotation": { "roll": -0.0001525899424450472, "pitch": 1.3854764699935913, "yaw": -170.714111328125 } }, "velocity": { "x": -4.411354064941406, "y": -0.7211788296699524, "z": 0.0719057098031044 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.3726582527160645, "transform": { "location": { "x": 1143.67578125, "y": 4080.69873046875, "z": 365.9900817871094 }, "rotation": { "roll": 0.001291239052079618, "pitch": 0.9742581248283386, "yaw": -170.73056030273438 } }, "velocity": { "x": -5.301632404327393, "y": -0.8660660982131958, "z": 0.08989391475915909 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.24457982182502747, "expert_target_speed": 6.0434093602120225, "target_point": [ 29.892941099852763, -0.6004047238136696 ], "target_point_next": [ 66.88999735380087, -1.0717060123747029 ] }, "355": { "acceleration": [ 0.9478950500488281, 0.21894216537475586, 0.005721002817153931 ], "angular_velocity": [ 0.0920865386724472, -0.5359968543052673, -0.2393399029970169 ], "forward_vector": [ -0.9852010607719421, -0.17059165239334106, 0.016653960570693016 ], "right_vector": [ 0.1706082820892334, -0.9853388071060181, -0.0004276474646758288 ], "location": [ 1184.75341796875, 4087.2373046875, 365.3258972167969 ], "rotation": [ 0.024505794048309326, 0.9542456865310669, -170.17640686035156 ], "velocity": [ -5.083680152893066, -0.8695492148399353, 0.08008462935686111 ], "speed": 5.157511001825165, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 26.69599151611328, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1158.38525390625, 4083.08837890625, 365.75286865234375 ], "velocity": [ -5.274281978607178, -0.8611951470375061, 0.08763565123081207 ], "speed_kmh": 19.24144853490673, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.06680679321289, "transform": { "location": { "x": 1154.1375732421875, "y": 4085.635009765625, "z": 365.807373046875 }, "rotation": { "roll": 0.0007408082019537687, "pitch": -0.9393285512924194, "yaw": 9.234089851379395 } }, "velocity": { "x": 7.96121072769165, "y": 1.2943570613861084, "z": -0.13089436292648315 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.351202011108398, "transform": { "location": { "x": 1184.2452392578125, "y": 4090.53173828125, "z": 365.32342529296875 }, "rotation": { "roll": -0.0007019048789516091, "pitch": -0.27187567949295044, "yaw": 9.232624053955078 } }, "velocity": { "x": 8.242061614990234, "y": 1.339500069618225, "z": -0.12939323484897614 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 2.307222366333008, "transform": { "location": { "x": 1215.779296875, "y": 4092.416748046875, "z": 364.8620300292969 }, "rotation": { "roll": 0.0016825452912598848, "pitch": 1.0410027503967285, "yaw": -170.70318603515625 } }, "velocity": { "x": -2.276942729949951, "y": -0.3710137903690338, "z": 0.033985987305641174 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 5.076920986175537, "transform": { "location": { "x": 1200.3509521484375, "y": 4089.90625, "z": 365.0895690917969 }, "rotation": { "roll": 0.0011701848125085235, "pitch": 1.0806792974472046, "yaw": -170.75131225585938 } }, "velocity": { "x": -5.010308265686035, "y": -0.8156747221946716, "z": 0.08130752295255661 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.344846725463867, "transform": { "location": { "x": 1158.38525390625, "y": 4083.08837890625, "z": 365.75286865234375 }, "rotation": { "roll": 0.000650029513053596, "pitch": 1.22151780128479, "yaw": -170.7338409423828 } }, "velocity": { "x": -5.274281978607178, "y": -0.8611951470375061, "z": 0.08763565123081207 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.627295970916748, "transform": { "location": { "x": 1142.302490234375, "y": 4080.474365234375, "z": 366.0133361816406 }, "rotation": { "roll": -3.052021929761395e-05, "pitch": 0.9817644953727722, "yaw": -170.74366760253906 } }, "velocity": { "x": -5.553066253662109, "y": -0.9060332179069519, "z": 0.09497486054897308 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.2491922825574875, "expert_target_speed": 6.151956187148566, "target_point": [ 28.59966289088608, -0.5264150861307257 ], "target_point_next": [ 65.59776678163163, -0.9066845327053041 ] }, "360": { "acceleration": [ 0.1061248779296875, 0.07535576820373535, 0.004917532205581665 ], "angular_velocity": [ 0.03342049941420555, -0.0183461531996727, -0.883621096611023 ], "forward_vector": [ -0.9856340289115906, -0.1681872457265854, 0.015449145808815956 ], "right_vector": [ 0.16820062696933746, -0.9857526421546936, -0.0004378894518595189 ], "location": [ 1183.500732421875, 4087.024658203125, 365.3457336425781 ], "rotation": [ 0.025092212483286858, 0.8852061033248901, -170.31639099121094 ], "velocity": [ -4.980893135070801, -0.8379139304161072, 0.07933856546878815 ], "speed": 5.050880732880237, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 27.042163848876953, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1156.789794921875, 4082.827392578125, 365.7785949707031 ], "velocity": [ -7.2369561195373535, -1.1759029626846313, 0.11858373135328293 ], "speed_kmh": 26.398175222278393, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.08292007446289, "transform": { "location": { "x": 1156.1295166015625, "y": 4085.958740234375, "z": 365.77447509765625 }, "rotation": { "roll": 6.71768284519203e-05, "pitch": -0.9303878545761108, "yaw": 9.239339828491211 } }, "velocity": { "x": 7.97697114944458, "y": 1.2977979183197021, "z": -0.1313370317220688 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.174420356750488, "transform": { "location": { "x": 1186.310302734375, "y": 4090.867431640625, "z": 365.29254150390625 }, "rotation": { "roll": 0.00039756885962560773, "pitch": -0.6704103350639343, "yaw": 9.229060173034668 } }, "velocity": { "x": 8.067628860473633, "y": 1.3109146356582642, "z": -0.12659135460853577 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 3.8717849254608154, "transform": { "location": { "x": 1215.0130615234375, "y": 4092.2919921875, "z": 364.8732604980469 }, "rotation": { "roll": 0.0022373409010469913, "pitch": 1.1372947692871094, "yaw": -170.71900939941406 } }, "velocity": { "x": -3.8210020065307617, "y": -0.6225331425666809, "z": 0.05581037327647209 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 5.465053558349609, "transform": { "location": { "x": 1199.0303955078125, "y": 4089.69140625, "z": 365.1095275878906 }, "rotation": { "roll": 0.0014843144454061985, "pitch": 0.9618203639984131, "yaw": -170.7624053955078 } }, "velocity": { "x": -5.393598556518555, "y": -0.8771531581878662, "z": 0.08065662533044815 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.332826614379883, "transform": { "location": { "x": 1156.789794921875, "y": 4082.827392578125, "z": 365.7785949707031 }, "rotation": { "roll": 0.0015468791825696826, "pitch": 1.294839859008789, "yaw": -170.8423309326172 } }, "velocity": { "x": -7.2369561195373535, "y": -1.1759029626846313, "z": 0.11858373135328293 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.3061842918396, "transform": { "location": { "x": 1140.9456787109375, "y": 4080.252685546875, "z": 366.0368347167969 }, "rotation": { "roll": 0.0008888713782653213, "pitch": 0.9663419127464294, "yaw": -170.74319458007812 } }, "velocity": { "x": -5.236263275146484, "y": -0.8537988662719727, "z": 0.09036500751972198 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.26127851009368896, "expert_target_speed": 6.068065735875395, "target_point": [ 27.330258191180764, -0.45544156280459447 ], "target_point_next": [ 64.32918076327167, -0.745311993899783 ] }, "365": { "acceleration": [ -0.3971099853515625, -0.01397252082824707, 0.002830028533935547 ], "angular_velocity": [ -0.048742011189460754, 0.1349792182445526, -0.29558905959129333 ], "forward_vector": [ -0.9860405921936035, -0.16575050354003906, 0.01583426631987095 ], "right_vector": [ 0.1657649725675583, -0.9861652255058289, -0.000402681966079399 ], "location": [ 1182.2508544921875, 4086.81494140625, 365.36529541015625 ], "rotation": [ 0.02307487092912197, 0.9072744846343994, -170.4579620361328 ], "velocity": [ -5.034788131713867, -0.833551287651062, 0.08023900538682938 ], "speed": 5.103322376686736, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 27.659330368041992, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1154.9296875, 4082.526123046875, 365.8107604980469 ], "velocity": [ -7.515478134155273, -1.223793864250183, 0.12642410397529602 ], "speed_kmh": 27.415853372697715, "color": "0,0,0" }, "other_vehicles": [ { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.058740615844727, "transform": { "location": { "x": 1158.1204833984375, "y": 4086.282470703125, "z": 365.7417907714844 }, "rotation": { "roll": 0.0002124441380146891, "pitch": -0.9292335510253906, "yaw": 9.239742279052734 } }, "velocity": { "x": 7.953111171722412, "y": 1.293930172920227, "z": -0.13067077100276947 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.8030171394348145, "transform": { "location": { "x": 1188.258056640625, "y": 4091.184326171875, "z": 365.2632751464844 }, "rotation": { "roll": 0.0004626936570275575, "pitch": -0.936002254486084, "yaw": 9.22815990447998 } }, "velocity": { "x": 7.701124668121338, "y": 1.2512534856796265, "z": -0.11883550137281418 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.284547328948975, "transform": { "location": { "x": 1213.8741455078125, "y": 4092.1064453125, "z": 364.8902587890625 }, "rotation": { "roll": 7.017669850029051e-05, "pitch": 1.1382441520690918, "yaw": -170.73484802246094 } }, "velocity": { "x": -5.215299129486084, "y": -0.8489189147949219, "z": 0.08021385222673416 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.186302185058594, "transform": { "location": { "x": 1197.5281982421875, "y": 4089.447509765625, "z": 365.1324157714844 }, "rotation": { "roll": -0.0001525878324173391, "pitch": 1.1202534437179565, "yaw": -170.759521484375 } }, "velocity": { "x": -7.092512607574463, "y": -1.1522347927093506, "z": 0.10750333219766617 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.615514755249023, "transform": { "location": { "x": 1154.9296875, "y": 4082.526123046875, "z": 365.8107604980469 }, "rotation": { "roll": -0.003509536851197481, "pitch": 1.0950499773025513, "yaw": -170.71517944335938 } }, "velocity": { "x": -7.515478134155273, "y": -1.223793864250183, "z": 0.12642410397529602 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.132544994354248, "transform": { "location": { "x": 1139.6800537109375, "y": 4080.04638671875, "z": 366.05859375 }, "rotation": { "roll": 0.0003040801966562867, "pitch": 0.9681177735328674, "yaw": -170.74026489257812 } }, "velocity": { "x": -5.064913272857666, "y": -0.8259170055389404, "z": 0.08678693324327469 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.25353342294692993, "expert_target_speed": 6.120588039488721, "target_point": [ 26.063950028259725, -0.3875422373368598 ], "target_point_next": [ 63.06347581419154, -0.586006285886219 ] }, "370": { "acceleration": [ -10.835933685302734, -1.6968333721160889, 0.15653878450393677 ], "angular_velocity": [ -0.36818182468414307, 2.3432979583740234, -1.3105489015579224 ], "forward_vector": [ -0.9864542484283447, -0.16307523846626282, 0.01773216761648655 ], "right_vector": [ 0.16309359669685364, -0.9866105318069458, -0.000415308604715392 ], "location": [ 1180.96533203125, 4086.603271484375, 365.3851013183594 ], "rotation": [ 0.023799171671271324, 1.0160316228866577, -170.61306762695312 ], "velocity": [ -5.616315841674805, -0.9144189953804016, 0.08821719884872437 ], "speed": 5.690269390157189, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 27.777793884277344, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1153.5279541015625, 4082.2919921875, 365.84222412109375 ], "velocity": [ -2.7276177406311035, -0.46229198575019836, 0.04342580586671829 ], "speed_kmh": 9.960685565132348, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.9800000786781311, "transform": { "location": { "x": 1119.473388671875, "y": 4079.8984375, "z": 366.75823974609375 }, "rotation": { "roll": 0.0, "pitch": -1.0031088590621948, "yaw": 9.234708786010742 } }, "velocity": { "x": -1.861376053291508e-09, "y": -3.0263400119245887e-10, "z": -0.9800000786781311 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.09105396270752, "transform": { "location": { "x": 1160.11328125, "y": 4086.606689453125, "z": 365.7091369628906 }, "rotation": { "roll": 0.0004910972784273326, "pitch": -0.9256886839866638, "yaw": 9.24068832397461 } }, "velocity": { "x": 7.98500919342041, "y": 1.2990926504135132, "z": -0.1309158056974411 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.190031051635742, "transform": { "location": { "x": 1190.2366943359375, "y": 4091.505615234375, "z": 365.2322082519531 }, "rotation": { "roll": -0.00039672362618148327, "pitch": -0.8039541840553284, "yaw": 9.228316307067871 } }, "velocity": { "x": 8.083113670349121, "y": 1.313204288482666, "z": -0.12403666228055954 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.43409538269043, "transform": { "location": { "x": 1212.5587158203125, "y": 4091.89208984375, "z": 364.9095764160156 }, "rotation": { "roll": -0.0003051728126592934, "pitch": 0.9521351456642151, "yaw": -170.7670135498047 } }, "velocity": { "x": -5.3629889488220215, "y": -0.8728014826774597, "z": 0.07719569653272629 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.340786933898926, "transform": { "location": { "x": 1195.7132568359375, "y": 4089.15283203125, "z": 365.1598815917969 }, "rotation": { "roll": 0.00029095762874931097, "pitch": 0.961219310760498, "yaw": -170.78616333007812 } }, "velocity": { "x": -7.245028018951416, "y": -1.17654550075531, "z": 0.11162219941616058 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.766857147216797, "transform": { "location": { "x": 1153.5279541015625, "y": 4082.2919921875, "z": 365.84222412109375 }, "rotation": { "roll": -0.010162349790334702, "pitch": 0.10112777352333069, "yaw": -171.16416931152344 } }, "velocity": { "x": -2.7276177406311035, "y": -0.46229198575019836, "z": 0.04342580586671829 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.320252895355225, "transform": { "location": { "x": 1138.3980712890625, "y": 4079.837158203125, "z": 366.08056640625 }, "rotation": { "roll": 0.00046545450459234416, "pitch": 0.9783289432525635, "yaw": -170.7416534423828 } }, "velocity": { "x": -5.250185966491699, "y": -0.8558405041694641, "z": 0.09040156751871109 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.25115564465522766, "expert_target_speed": 6.6192379712534954, "target_point": [ 24.762071669011853, -0.316139104797053 ], "target_point_next": [ 61.761999180399265, -0.41442702102708395 ] }, "375": { "acceleration": [ -1.5858078002929688, -0.16916751861572266, 0.026557892560958862 ], "angular_velocity": [ 0.022248992696404457, -0.34134915471076965, 2.2531652450561523 ], "forward_vector": [ -0.9868987798690796, -0.159963458776474, 0.021035905927419662 ], "right_vector": [ 0.15998955070972443, -0.9871185421943665, -0.00044784435885958374 ], "location": [ 1179.426513671875, 4086.3544921875, 365.4085998535156 ], "rotation": [ 0.025665272027254105, 1.205357551574707, -170.7931671142578 ], "velocity": [ -6.3798651695251465, -1.0184874534606934, 0.09968986362218857 ], "speed": 6.460649833737855, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 26.365514755249023, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1153.383544921875, 4082.266357421875, 365.8460388183594 ], "velocity": [ -0.3711334764957428, -0.058821313083171844, 0.005680656526237726 ], "speed_kmh": 1.352911775552822, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.6015510559082031, "transform": { "location": { "x": 1119.47119140625, "y": 4079.89794921875, "z": 366.3702392578125 }, "rotation": { "roll": 2.768531885521952e-05, "pitch": -1.0187363624572754, "yaw": 9.234830856323242 } }, "velocity": { "x": -0.010006099939346313, "y": -0.0016814755508676171, "z": -0.6014655232429504 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.054588317871094, "transform": { "location": { "x": 1162.1046142578125, "y": 4086.93017578125, "z": 365.6766662597656 }, "rotation": { "roll": -0.00048826757119968534, "pitch": -0.9165293574333191, "yaw": 9.23533821105957 } }, "velocity": { "x": 7.949162483215332, "y": 1.2924472093582153, "z": -0.12956728041172028 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.996717929840088, "transform": { "location": { "x": 1192.2398681640625, "y": 4091.8310546875, "z": 365.201904296875 }, "rotation": { "roll": -6.103208943386562e-05, "pitch": -0.885650098323822, "yaw": 9.23187255859375 } }, "velocity": { "x": 7.89222526550293, "y": 1.2827492952346802, "z": -0.12177179753780365 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.2940473556518555, "transform": { "location": { "x": 1211.05224609375, "y": 4091.6474609375, "z": 364.9315490722656 }, "rotation": { "roll": 0.0003488406364340335, "pitch": 1.1811649799346924, "yaw": -170.8290252685547 } }, "velocity": { "x": -7.199282646179199, "y": -1.167238473892212, "z": 0.10492608696222305 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.544144630432129, "transform": { "location": { "x": 1193.8521728515625, "y": 4088.850341796875, "z": 365.1882629394531 }, "rotation": { "roll": 0.0001375418942188844, "pitch": 0.9177178144454956, "yaw": -170.75079345703125 } }, "velocity": { "x": -7.445557117462158, "y": -1.2102001905441284, "z": 0.11494363844394684 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.37580883502960205, "transform": { "location": { "x": 1153.383544921875, "y": 4082.266357421875, "z": 365.8460388183594 }, "rotation": { "roll": 0.019280757755041122, "pitch": -0.09982320666313171, "yaw": -171.2412109375 } }, "velocity": { "x": -0.3711334764957428, "y": -0.058821313083171844, "z": 0.005680656526237726 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.520094871520996, "transform": { "location": { "x": 1137.063232421875, "y": 4079.61962890625, "z": 366.1036376953125 }, "rotation": { "roll": -0.0008850079611875117, "pitch": 0.9881302714347839, "yaw": -170.74374389648438 } }, "velocity": { "x": -5.447425365447998, "y": -0.8877702951431274, "z": 0.0941634550690651 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.24021212756633759, "expert_target_speed": 7.212400972095759, "target_point": [ 23.20414458842097, -0.23766813570704626 ], "target_point_next": [ 60.20419826182986, -0.21965349551404145 ] }, "380": { "acceleration": [ -1.7237091064453125, -0.20056724548339844, 0.023541152477264404 ], "angular_velocity": [ 0.03203609213232994, -0.11385581642389297, -3.50728440284729 ], "forward_vector": [ -0.98746258020401, -0.15660575032234192, 0.019805924966931343 ], "right_vector": [ 0.1566285640001297, -0.9876574873924255, -0.00040344809531234205 ], "location": [ 1177.7825927734375, 4086.09375, 365.43463134765625 ], "rotation": [ 0.02312040887773037, 1.1348700523376465, -170.98828125 ], "velocity": [ -6.771870136260986, -1.0637038946151733, 0.10641961544752121 ], "speed": 6.854902706662063, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 24.877195358276367, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1153.209228515625, 4082.23876953125, 365.8392028808594 ], "velocity": [ -0.8410260677337646, -0.135402113199234, 0.014865236356854439 ], "speed_kmh": 3.0671483533366186, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.15081848204135895, "transform": { "location": { "x": 1119.470947265625, "y": 4079.89794921875, "z": 366.36480712890625 }, "rotation": { "roll": 5.0480761274229735e-05, "pitch": -1.0243165493011475, "yaw": 9.23477554321289 } }, "velocity": { "x": 0.0026326735969632864, "y": 0.0004089403082616627, "z": 0.15079493820667267 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.091561317443848, "transform": { "location": { "x": 1164.0968017578125, "y": 4087.253662109375, "z": 365.6444396972656 }, "rotation": { "roll": -9.155224688583985e-05, "pitch": -0.9164064526557922, "yaw": 9.234233856201172 } }, "velocity": { "x": 7.985652923583984, "y": 1.2983285188674927, "z": -0.13056877255439758 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.00070858001709, "transform": { "location": { "x": 1194.2037353515625, "y": 4092.150146484375, "z": 365.1717224121094 }, "rotation": { "roll": 0.0005653545376844704, "pitch": -0.8998705148696899, "yaw": 9.228910446166992 } }, "velocity": { "x": 7.896262168884277, "y": 1.2829753160476685, "z": -0.11985155194997787 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.20014476776123, "transform": { "location": { "x": 1209.0648193359375, "y": 4091.324951171875, "z": 364.9607238769531 }, "rotation": { "roll": -0.0013427690137177706, "pitch": 1.0756932497024536, "yaw": -170.80380249023438 } }, "velocity": { "x": -8.093304634094238, "y": -1.313974380493164, "z": 0.11945909261703491 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 6.046095371246338, "transform": { "location": { "x": 1192.1439208984375, "y": 4088.572998046875, "z": 365.2142639160156 }, "rotation": { "roll": -0.001953133847564459, "pitch": 0.7181397080421448, "yaw": -170.82420349121094 } }, "velocity": { "x": -5.96693754196167, "y": -0.9708253145217896, "z": 0.09177236258983612 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.8519856333732605, "transform": { "location": { "x": 1153.209228515625, "y": 4082.23876953125, "z": 365.8392028808594 }, "rotation": { "roll": -0.009277332574129105, "pitch": 1.1167563199996948, "yaw": -171.22743225097656 } }, "velocity": { "x": -0.8410260677337646, "y": -0.135402113199234, "z": 0.014865236356854439 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.4998650550842285, "transform": { "location": { "x": 1135.5897216796875, "y": 4079.379638671875, "z": 366.12896728515625 }, "rotation": { "roll": 0.000589182716794312, "pitch": 1.0140644311904907, "yaw": -170.74269104003906 } }, "velocity": { "x": -6.414475440979004, "y": -1.0441648960113525, "z": 0.11167390644550323 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.22374650835990906, "expert_target_speed": 7.511429488432445, "target_point": [ 21.540348738274247, -0.15868013014827165 ], "target_point_next": [ 58.54012656882815, -0.014677171666015454 ] }, "385": { "acceleration": [ -2.018270492553711, -0.22777080535888672, 0.04298105835914612 ], "angular_velocity": [ -0.013644369319081306, 0.025071268901228905, 2.0764806270599365 ], "forward_vector": [ -0.987814724445343, -0.15437310934066772, 0.01977374218404293 ], "right_vector": [ 0.15439605712890625, -0.988008975982666, -0.0003702316898852587 ], "location": [ 1176.0277099609375, 4085.81982421875, 365.46234130859375 ], "rotation": [ 0.0212168600410223, 1.133025884628296, -171.11781311035156 ], "velocity": [ -7.25954008102417, -1.1204321384429932, 0.1150689497590065 ], "speed": 7.345494562305002, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 23.306133270263672, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1153.006591796875, 4082.2060546875, 365.84271240234375 ], "velocity": [ -0.7816495895385742, -0.1261206716299057, 0.013471841812133789 ], "speed_kmh": 2.8507454073055607, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 1.381522536277771, "transform": { "location": { "x": 1119.65673828125, "y": 4079.930419921875, "z": 366.3889465332031 }, "rotation": { "roll": -0.010681151412427425, "pitch": -0.6730672717094421, "yaw": 9.27757740020752 } }, "velocity": { "x": 1.36118745803833, "y": 0.23122982680797577, "z": 0.048020150512456894 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.056007385253906, "transform": { "location": { "x": 1166.0887451171875, "y": 4087.5771484375, "z": 365.6121826171875 }, "rotation": { "roll": -6.103919440647587e-05, "pitch": -0.9111949801445007, "yaw": 9.234114646911621 } }, "velocity": { "x": 7.950630187988281, "y": 1.2925888299942017, "z": -0.1262912005186081 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.082377433776855, "transform": { "location": { "x": 1196.1942138671875, "y": 4092.4736328125, "z": 365.14117431640625 }, "rotation": { "roll": -0.00012206324754515663, "pitch": -0.8565671443939209, "yaw": 9.228517532348633 } }, "velocity": { "x": 7.976855754852295, "y": 1.2960087060928345, "z": -0.12229964882135391 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.045747756958008, "transform": { "location": { "x": 1207.1871337890625, "y": 4091.01953125, "z": 364.9884948730469 }, "rotation": { "roll": -0.0008544959127902985, "pitch": 0.7259329557418823, "yaw": -170.7639617919922 } }, "velocity": { "x": -6.953737258911133, "y": -1.1302828788757324, "z": 0.10278020799160004 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 0.16143706440925598, "transform": { "location": { "x": 1191.3984375, "y": 4088.446044921875, "z": 365.22467041015625 }, "rotation": { "roll": -0.0133056640625, "pitch": 0.14971090853214264, "yaw": -171.9032440185547 } }, "velocity": { "x": -0.1565941423177719, "y": -0.039104096591472626, "z": 0.00332749355584383 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.7918737530708313, "transform": { "location": { "x": 1153.006591796875, "y": 4082.2060546875, "z": 365.84271240234375 }, "rotation": { "roll": -0.009460446424782276, "pitch": 1.1036287546157837, "yaw": -171.18438720703125 } }, "velocity": { "x": -0.7816495895385742, "y": -0.1261206716299057, "z": 0.013471841812133789 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.470892906188965, "transform": { "location": { "x": 1133.8514404296875, "y": 4079.09619140625, "z": 366.1592102050781 }, "rotation": { "roll": -0.0011901832185685635, "pitch": 1.0227251052856445, "yaw": -170.7781982421875 } }, "velocity": { "x": -7.3730034828186035, "y": -1.1985784769058228, "z": 0.12832753360271454 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.18640804290771484, "expert_target_speed": 7.851612997856421, "target_point": [ 19.76451928450014, -0.10966477796422858 ], "target_point_next": [ 56.763877022730256, 0.11798258281864982 ] }, "390": { "acceleration": [ -1.9415092468261719, -0.20653724670410156, 0.03824383020401001 ], "angular_velocity": [ -0.06559310108423233, -0.00770583376288414, -3.2836287021636963 ], "forward_vector": [ -0.9883294105529785, -0.1510290503501892, 0.019878866150975227 ], "right_vector": [ 0.15105147659778595, -0.9885258078575134, -0.00037691902252845466 ], "location": [ 1174.1475830078125, 4085.531982421875, 365.4920959472656 ], "rotation": [ 0.021600136533379555, 1.1390501260757446, -171.31170654296875 ], "velocity": [ -7.756980895996094, -1.175065279006958, 0.12295802682638168 ], "speed": 7.845478381257325, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 21.655311584472656, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1152.75830078125, 4082.166748046875, 365.8475341796875 ], "velocity": [ -1.3513489961624146, -0.21794253587722778, 0.02204698510468006 ], "speed_kmh": 4.928358093515582, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 2.3235623836517334, "transform": { "location": { "x": 1120.1044921875, "y": 4080.0068359375, "z": 366.3910827636719 }, "rotation": { "roll": -0.01202392391860485, "pitch": -0.6078799962997437, "yaw": 9.391221046447754 } }, "velocity": { "x": 2.290058135986328, "y": 0.39267730712890625, "z": -0.019512247294187546 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.090262413024902, "transform": { "location": { "x": 1168.080810546875, "y": 4087.90087890625, "z": 365.5802917480469 }, "rotation": { "roll": 0.0006190692074596882, "pitch": -0.9015507698059082, "yaw": 9.238260269165039 } }, "velocity": { "x": 7.984310626983643, "y": 1.2987651824951172, "z": -0.12777771055698395 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.010307312011719, "transform": { "location": { "x": 1198.17822265625, "y": 4092.796142578125, "z": 365.1110534667969 }, "rotation": { "roll": -0.0013122529489919543, "pitch": -0.8844616413116455, "yaw": 9.23020076751709 } }, "velocity": { "x": 7.905518531799316, "y": 1.2858647108078003, "z": -0.11974843591451645 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 3.499983549118042, "transform": { "location": { "x": 1205.76025390625, "y": 4090.787841796875, "z": 365.0093994140625 }, "rotation": { "roll": -0.0017395009053871036, "pitch": 0.27835750579833984, "yaw": -170.8121795654297 } }, "velocity": { "x": -3.454151153564453, "y": -0.5624077916145325, "z": 0.04923103377223015 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 1.9465739727020264, "transform": { "location": { "x": 1191.094482421875, "y": 4088.39794921875, "z": 365.2303466796875 }, "rotation": { "roll": -0.012847896665334702, "pitch": 0.8271290063858032, "yaw": -171.68238830566406 } }, "velocity": { "x": -1.9230259656906128, "y": -0.3003877103328705, "z": 0.02980850078165531 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.368988275527954, "transform": { "location": { "x": 1152.75830078125, "y": 4082.166748046875, "z": 365.8475341796875 }, "rotation": { "roll": -0.008026127703487873, "pitch": 1.0273696184158325, "yaw": -171.14450073242188 } }, "velocity": { "x": -1.3513489961624146, "y": -0.21794253587722778, "z": 0.02204698510468006 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.708333492279053, "transform": { "location": { "x": 1131.9586181640625, "y": 4078.78857421875, "z": 366.1924133300781 }, "rotation": { "roll": 6.157451934996061e-06, "pitch": 1.0033615827560425, "yaw": -170.78469848632812 } }, "velocity": { "x": -7.607331275939941, "y": -1.2364883422851562, "z": 0.1341928094625473 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.15268662571907043, "expert_target_speed": 8.179425410322807, "target_point": [ 17.86274413114974, -0.04329903965264936 ], "target_point_next": [ 54.86111945588336, 0.3095744398575935 ] }, "395": { "acceleration": [ -1.5033721923828125, -0.11991262435913086, 0.025693774223327637 ], "angular_velocity": [ -0.04467004910111427, -0.10467428714036942, 1.7932698726654053 ], "forward_vector": [ -0.9887287020683289, -0.14841799437999725, 0.01968923956155777 ], "right_vector": [ 0.1484391987323761, -0.9889214634895325, -0.00038823916111141443 ], "location": [ 1172.1497802734375, 4085.232177734375, 365.5238952636719 ], "rotation": [ 0.022248778492212296, 1.1281832456588745, -171.46307373046875 ], "velocity": [ -8.189055442810059, -1.2153360843658447, 0.12910224497318268 ], "speed": 8.278748144700305, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 20.11855697631836, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1152.2808837890625, 4082.08984375, 365.85406494140625 ], "velocity": [ -2.5442748069763184, -0.41103172302246094, 0.04211718589067459 ], "speed_kmh": 9.279383371543574, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 3.7072551250457764, "transform": { "location": { "x": 1120.84716796875, "y": 4080.133544921875, "z": 366.3802185058594 }, "rotation": { "roll": -0.01669311337172985, "pitch": -0.48227280378341675, "yaw": 9.526602745056152 } }, "velocity": { "x": 3.6531548500061035, "y": 0.6281370520591736, "z": -0.06036408245563507 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.0573148727417, "transform": { "location": { "x": 1170.072509765625, "y": 4088.224853515625, "z": 365.548583984375 }, "rotation": { "roll": 0.0004826487274840474, "pitch": -0.9023703932762146, "yaw": 9.245095252990723 } }, "velocity": { "x": 7.951634883880615, "y": 1.2945353984832764, "z": -0.12652407586574554 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.032838821411133, "transform": { "location": { "x": 1200.1556396484375, "y": 4093.117431640625, "z": 365.0811767578125 }, "rotation": { "roll": -0.00042724175727926195, "pitch": -0.8600437045097351, "yaw": 9.237098693847656 } }, "velocity": { "x": 7.927805423736572, "y": 1.2893040180206299, "z": -0.11871247738599777 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 0.41902872920036316, "transform": { "location": { "x": 1205.537109375, "y": 4090.751220703125, "z": 365.0127258300781 }, "rotation": { "roll": 0.0013076489558443427, "pitch": 0.17757807672023773, "yaw": -170.8133544921875 } }, "velocity": { "x": -0.4136084318161011, "y": -0.06680954247713089, "z": 0.007045707665383816 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 3.2418222427368164, "transform": { "location": { "x": 1190.4442138671875, "y": 4088.295166015625, "z": 365.2406311035156 }, "rotation": { "roll": -0.015136715956032276, "pitch": 1.022506594657898, "yaw": -171.3981170654297 } }, "velocity": { "x": -3.201707601547241, "y": -0.5059918761253357, "z": 0.049506187438964844 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.577606439590454, "transform": { "location": { "x": 1152.2808837890625, "y": 4082.08984375, "z": 365.85406494140625 }, "rotation": { "roll": -0.010131836868822575, "pitch": 1.1995587348937988, "yaw": -171.07749938964844 } }, "velocity": { "x": -2.5442748069763184, "y": -0.41103172302246094, "z": 0.04211718589067459 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.9154815673828125, "transform": { "location": { "x": 1130.0499267578125, "y": 4078.47802734375, "z": 366.22607421875 }, "rotation": { "roll": -0.0004882805806118995, "pitch": 1.007521152496338, "yaw": -170.77288818359375 } }, "velocity": { "x": -7.811769962310791, "y": -1.269783616065979, "z": 0.13693198561668396 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.12341900914907455, "expert_target_speed": 8.455473227443212, "target_point": [ 15.842623270296913, 0.0039727886920335465 ], "target_point_next": [ 52.839937322256624, 0.4545827120891941 ] }, "400": { "acceleration": [ -0.405120849609375, 0.021219253540039062, 0.010215044021606445 ], "angular_velocity": [ -0.03733837604522705, -0.3717452585697174, -3.130178689956665 ], "forward_vector": [ -0.9892452359199524, -0.14507748186588287, 0.018610116094350815 ], "right_vector": [ 0.14509694278240204, -0.9894173741340637, -0.00030777588835917413 ], "location": [ 1170.0697021484375, 4084.925537109375, 365.55712890625 ], "rotation": [ 0.017637314274907112, 1.0663427114486694, -171.6567840576172 ], "velocity": [ -8.399157524108887, -1.2245941162109375, 0.13282287120819092 ], "speed": 8.487960760056174, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 18.899539947509766, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1151.408447265625, 4081.949951171875, 365.8670959472656 ], "velocity": [ -4.448329448699951, -0.7200933694839478, 0.07414739578962326 ], "speed_kmh": 16.224648121576582, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.0518903732299805, "transform": { "location": { "x": 1121.9354248046875, "y": 4080.320556640625, "z": 366.36126708984375 }, "rotation": { "roll": -0.01834106259047985, "pitch": -0.4267297089099884, "yaw": 9.657166481018066 } }, "velocity": { "x": 4.9776411056518555, "y": 0.8585186004638672, "z": -0.08734725415706635 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.088854789733887, "transform": { "location": { "x": 1172.064453125, "y": 4088.54931640625, "z": 365.5168151855469 }, "rotation": { "roll": -0.000274655525572598, "pitch": -0.9003623127937317, "yaw": 9.244813919067383 } }, "velocity": { "x": 7.982816696166992, "y": 1.2992465496063232, "z": -0.12715649604797363 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.054195404052734, "transform": { "location": { "x": 1202.142333984375, "y": 4093.4404296875, "z": 365.0513916015625 }, "rotation": { "roll": -0.0016479536425322294, "pitch": -0.8561436533927917, "yaw": 9.235252380371094 } }, "velocity": { "x": 7.948726654052734, "y": 1.2936798334121704, "z": -0.11915918439626694 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 1.8124655485153198, "transform": { "location": { "x": 1205.2451171875, "y": 4090.704345703125, "z": 365.0173645019531 }, "rotation": { "roll": -0.002075193915516138, "pitch": 0.9250944256782532, "yaw": -170.82537841796875 } }, "velocity": { "x": -1.7888003587722778, "y": -0.2906976044178009, "z": 0.02682957611978054 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 4.726749897003174, "transform": { "location": { "x": 1189.44580078125, "y": 4088.13623046875, "z": 365.25604248046875 }, "rotation": { "roll": -0.01351929921656847, "pitch": 1.0919559001922607, "yaw": -171.1258087158203 } }, "velocity": { "x": -4.666848182678223, "y": -0.7466490268707275, "z": 0.07216209173202515 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 4.5068464279174805, "transform": { "location": { "x": 1151.408447265625, "y": 4081.949951171875, "z": 365.8670959472656 }, "rotation": { "roll": -0.010070797987282276, "pitch": 1.3922998905181885, "yaw": -170.97862243652344 } }, "velocity": { "x": -4.448329448699951, "y": -0.7200933694839478, "z": 0.07414739578962326 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 8.113938331604004, "transform": { "location": { "x": 1128.049072265625, "y": 4078.153076171875, "z": 366.2613525390625 }, "rotation": { "roll": -0.0010070891585201025, "pitch": 1.0100687742233276, "yaw": -170.7660369873047 } }, "velocity": { "x": -8.007439613342285, "y": -1.302549123764038, "z": 0.14239083230495453 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.0877726674079895, "expert_target_speed": 8.610651692568064, "target_point": [ 13.739961095108512, 0.05596216644017704 ], "target_point_next": [ 50.73554030616492, 0.6316488875397441 ] }, "405": { "acceleration": [ -0.06441116333007812, -0.1046299934387207, -0.0037536025047302246 ], "angular_velocity": [ -0.09423477947711945, -0.24670372903347015, 2.7970757484436035 ], "forward_vector": [ -0.989384114742279, -0.14430445432662964, 0.01718376763164997 ], "right_vector": [ 0.14432764053344727, -0.9895299077033997, 0.00011023855040548369 ], "location": [ 1167.966064453125, 4084.61962890625, 365.5909729003906 ], "rotation": [ -0.0063171363435685635, 0.9846058487892151, -171.70176696777344 ], "velocity": [ -8.425851821899414, -1.2322648763656616, 0.13487133383750916 ], "speed": 8.515483289287236, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 18.064773559570312, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1150.1341552734375, 4081.743896484375, 365.8896789550781 ], "velocity": [ -5.467296123504639, -0.8870066404342651, 0.09348683804273605 ], "speed_kmh": 19.942455797271087, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 5.400212287902832, "transform": { "location": { "x": 1123.2535400390625, "y": 4080.547607421875, "z": 366.33917236328125 }, "rotation": { "roll": -0.0174560546875, "pitch": -0.6681768894195557, "yaw": 9.755722999572754 } }, "velocity": { "x": 5.320454120635986, "y": 0.9197919964790344, "z": -0.09510399401187897 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.056901931762695, "transform": { "location": { "x": 1174.0562744140625, "y": 4088.873291015625, "z": 365.4851379394531 }, "rotation": { "roll": 0.0006297482759691775, "pitch": -0.8955675363540649, "yaw": 9.243438720703125 } }, "velocity": { "x": 7.951427936553955, "y": 1.2932682037353516, "z": -0.12617230415344238 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.014552116394043, "transform": { "location": { "x": 1204.1234130859375, "y": 4093.7626953125, "z": 365.0217590332031 }, "rotation": { "roll": -0.0012817346723750234, "pitch": -0.8682535886764526, "yaw": 9.237367630004883 } }, "velocity": { "x": 7.909757137298584, "y": 1.2862838506698608, "z": -0.119427889585495 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 3.216139316558838, "transform": { "location": { "x": 1204.629638671875, "y": 4090.604248046875, "z": 365.0267028808594 }, "rotation": { "roll": -0.00201415759511292, "pitch": 1.1018801927566528, "yaw": -170.81028747558594 } }, "velocity": { "x": -3.174217700958252, "y": -0.5154054760932922, "z": 0.04745136946439743 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 5.600437164306641, "transform": { "location": { "x": 1188.1461181640625, "y": 4087.9267578125, "z": 365.2763977050781 }, "rotation": { "roll": -0.006652833893895149, "pitch": 1.0341588258743286, "yaw": -171.05540466308594 } }, "velocity": { "x": -5.528697967529297, "y": -0.8894321322441101, "z": 0.08545856177806854 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 5.539571285247803, "transform": { "location": { "x": 1150.1341552734375, "y": 4081.743896484375, "z": 365.8896789550781 }, "rotation": { "roll": -0.005798335187137127, "pitch": 1.2556072473526, "yaw": -170.87623596191406 } }, "velocity": { "x": -5.467296123504639, "y": -0.8870066404342651, "z": 0.09348683804273605 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.517072677612305, "transform": { "location": { "x": 1126.1220703125, "y": 4077.83984375, "z": 366.2956848144531 }, "rotation": { "roll": -0.0008239806047640741, "pitch": 0.9875838160514832, "yaw": -170.7576904296875 } }, "velocity": { "x": -7.4183268547058105, "y": -1.2071783542633057, "z": 0.13237416744232178 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 0.975178599357605, "expert_control_brake": 0.0, "expert_control_steer": -0.05586111173033714, "expert_target_speed": 8.62722717330394, "target_point": [ 11.61414941463212, 0.06765020280889589 ], "target_point_next": [ 48.609265389077244, 0.6723736104546525 ] }, "410": { "acceleration": [ -0.131683349609375, -0.09384870529174805, 0.0037032365798950195 ], "angular_velocity": [ -0.056037697941064835, -0.02784389816224575, -2.0477652549743652 ], "forward_vector": [ -0.9891864657402039, -0.1456993818283081, 0.016786741092801094 ], "right_vector": [ 0.14572742581367493, -0.9893246293067932, 0.00045320598292164505 ], "location": [ 1165.856689453125, 4084.30859375, 365.625 ], "rotation": [ -0.025970449671149254, 0.9618545174598694, -171.62103271484375 ], "velocity": [ -8.453500747680664, -1.2539961338043213, 0.135042205452919 ], "speed": 8.546003814335315, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.517127990722656, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1148.5701904296875, 4081.490478515625, 365.9164123535156 ], "velocity": [ -6.983349323272705, -1.1349021196365356, 0.11718486249446869 ], "speed_kmh": 25.473377894906807, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.055074214935303, "transform": { "location": { "x": 1124.7977294921875, "y": 4080.81494140625, "z": 366.3108825683594 }, "rotation": { "roll": -0.01599120907485485, "pitch": -0.47116008400917053, "yaw": 9.803665161132812 } }, "velocity": { "x": 6.9505205154418945, "y": 1.203755497932434, "z": -0.12372982501983643 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.089279174804688, "transform": { "location": { "x": 1176.0482177734375, "y": 4089.197509765625, "z": 365.45367431640625 }, "rotation": { "roll": 0.0, "pitch": -0.8959636688232422, "yaw": 9.236930847167969 } }, "velocity": { "x": 7.983431816101074, "y": 1.2981446981430054, "z": -0.12678229808807373 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.048309326171875, "transform": { "location": { "x": 1206.1051025390625, "y": 4094.0849609375, "z": 364.9919738769531 }, "rotation": { "roll": -0.00012206336396047845, "pitch": -0.8602895736694336, "yaw": 9.237349510192871 } }, "velocity": { "x": 7.94307804107666, "y": 1.2917766571044922, "z": -0.11874216049909592 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 4.746685028076172, "transform": { "location": { "x": 1203.631103515625, "y": 4090.44189453125, "z": 365.0417175292969 }, "rotation": { "roll": -0.0016174331540241838, "pitch": 1.1619243621826172, "yaw": -170.78651428222656 } }, "velocity": { "x": -4.6846466064453125, "y": -0.7617372870445251, "z": 0.06972292065620422 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 6.553798198699951, "transform": { "location": { "x": 1186.6981201171875, "y": 4087.6943359375, "z": 365.298828125 }, "rotation": { "roll": -0.006500234827399254, "pitch": 1.0396435260772705, "yaw": -171.0007781982422 } }, "velocity": { "x": -6.469671249389648, "y": -1.0417802333831787, "z": 0.10158519446849823 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.0759382247924805, "transform": { "location": { "x": 1148.5701904296875, "y": 4081.490478515625, "z": 365.9164123535156 }, "rotation": { "roll": -0.0034790111239999533, "pitch": 1.2268316745758057, "yaw": -170.78273010253906 } }, "velocity": { "x": -6.983349323272705, "y": -1.1349021196365356, "z": 0.11718486249446869 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.361931324005127, "transform": { "location": { "x": 1124.29833984375, "y": 4077.54296875, "z": 366.3280029296875 }, "rotation": { "roll": 0.000506077369209379, "pitch": 0.9959713220596313, "yaw": -170.7513427734375 } }, "velocity": { "x": -7.265318393707275, "y": -1.181738257408142, "z": 0.1291266530752182 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.03675559535622597, "expert_target_speed": 8.685973508286258, "target_point": [ 9.482049878670932, 0.05095274416302975 ], "target_point_next": [ 46.477980951500285, 0.603565100936911 ] }, "415": { "acceleration": [ 1.1224555969238281, 0.043625831604003906, -0.0212135910987854 ], "angular_velocity": [ -0.009862872771918774, -0.377515971660614, 3.3541762828826904 ], "forward_vector": [ -0.9887579679489136, -0.14864125847816467, 0.016234874725341797 ], "right_vector": [ 0.1486719697713852, -0.9888863563537598, 0.0006944607011973858 ], "location": [ 1163.7469482421875, 4083.99365234375, 365.6590576171875 ], "rotation": [ -0.0397949181497097, 0.9302307367324829, -171.45066833496094 ], "velocity": [ -8.361178398132324, -1.26663339138031, 0.13431647419929504 ], "speed": 8.45657521420783, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.26325035095215, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1146.7154541015625, 4081.189208984375, 365.9473876953125 ], "velocity": [ -8.20814037322998, -1.3371323347091675, 0.13815508782863617 ], "speed_kmh": 29.942950624767025, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.393366813659668, "transform": { "location": { "x": 1126.717529296875, "y": 4081.14013671875, "z": 366.2766418457031 }, "rotation": { "roll": 0.018364740535616875, "pitch": -0.4086911678314209, "yaw": 9.626442909240723 } }, "velocity": { "x": 8.27562427520752, "y": 1.3932119607925415, "z": -0.1469953954219818 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.056327819824219, "transform": { "location": { "x": 1178.0399169921875, "y": 4089.521240234375, "z": 365.4222106933594 }, "rotation": { "roll": 0.00033061057911254466, "pitch": -0.8927329778671265, "yaw": 9.238814353942871 } }, "velocity": { "x": 7.950840950012207, "y": 1.2933415174484253, "z": -0.1257455199956894 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.027414321899414, "transform": { "location": { "x": 1208.0889892578125, "y": 4094.406982421875, "z": 364.9625549316406 }, "rotation": { "roll": -0.00045776646584272385, "pitch": -0.8505292534828186, "yaw": 9.235447883605957 } }, "velocity": { "x": 7.922316074371338, "y": 1.2892566919326782, "z": -0.11878547072410583 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.428009986877441, "transform": { "location": { "x": 1202.3348388671875, "y": 4090.231201171875, "z": 365.0614013671875 }, "rotation": { "roll": 0.0009135986329056323, "pitch": 1.029896855354309, "yaw": -170.78273010253906 } }, "velocity": { "x": -5.357100009918213, "y": -0.8708268404006958, "z": 0.08021022379398346 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.157660484313965, "transform": { "location": { "x": 1184.830078125, "y": 4087.391357421875, "z": 365.32818603515625 }, "rotation": { "roll": -0.0065307579934597015, "pitch": 1.1214691400527954, "yaw": -170.79603576660156 } }, "velocity": { "x": -8.050782203674316, "y": -1.310030460357666, "z": 0.1271228790283203 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.317486763000488, "transform": { "location": { "x": 1146.7154541015625, "y": 4081.189208984375, "z": 365.9473876953125 }, "rotation": { "roll": -0.0008544886368326843, "pitch": 1.244071125984192, "yaw": -170.69906616210938 } }, "velocity": { "x": -8.20814037322998, "y": -1.3371323347091675, "z": 0.13815508782863617 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 7.181670188903809, "transform": { "location": { "x": 1122.496826171875, "y": 4077.25, "z": 366.35986328125 }, "rotation": { "roll": -0.0004882797657046467, "pitch": 1.0019135475158691, "yaw": -170.75430297851562 } }, "velocity": { "x": -7.087308883666992, "y": -1.1534616947174072, "z": 0.1263665407896042 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.024958495050668716, "expert_target_speed": 8.666851551723983, "target_point": [ 44.34645247301641, 0.46755151553052254 ], "target_point_next": [ 44.34645247301641, 0.46755151553052254 ] }, "420": { "acceleration": [ 2.0534706115722656, 0.2029109001159668, 0.0032526254653930664 ], "angular_velocity": [ -0.07241104543209076, -0.41054022312164307, -1.9434696435928345 ], "forward_vector": [ -0.9883352518081665, -0.1516292244195938, 0.014215108938515186 ], "right_vector": [ 0.15165604650974274, -0.9884329438209534, 0.0008233660482801497 ], "location": [ 1161.71142578125, 4083.681884765625, 365.6923828125 ], "rotation": [ -0.0471801720559597, 0.8144931793212891, -171.2777557373047 ], "velocity": [ -7.916373252868652, -1.2282401323318481, 0.13041862845420837 ], "speed": 8.0110885216308, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.33692169189453, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1144.6104736328125, 4080.84619140625, 365.9841613769531 ], "velocity": [ -8.31320571899414, -1.3562246561050415, 0.1412108838558197 ], "speed_kmh": 30.32744681053634, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.12890911102295, "transform": { "location": { "x": 1128.77392578125, "y": 4081.48583984375, "z": 366.2417907714844 }, "rotation": { "roll": 0.010582939721643925, "pitch": -0.8220815062522888, "yaw": 9.530034065246582 } }, "velocity": { "x": 8.015955924987793, "y": 1.342934489250183, "z": -0.1419173777103424 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.089784622192383, "transform": { "location": { "x": 1180.031982421875, "y": 4089.845458984375, "z": 365.3908386230469 }, "rotation": { "roll": -0.0009460474248044193, "pitch": -0.8856773972511292, "yaw": 9.239363670349121 } }, "velocity": { "x": 7.98385763168335, "y": 1.2986929416656494, "z": -0.12661977112293243 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.039227485656738, "transform": { "location": { "x": 1210.07080078125, "y": 4094.729248046875, "z": 364.9331970214844 }, "rotation": { "roll": -0.0005493093049153686, "pitch": -0.8425857424736023, "yaw": 9.238824844360352 } }, "velocity": { "x": 7.93393087387085, "y": 1.291701316833496, "z": -0.11586610227823257 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 6.2575483322143555, "transform": { "location": { "x": 1200.943603515625, "y": 4090.0048828125, "z": 365.0821838378906 }, "rotation": { "roll": 0.00019236194202676415, "pitch": 1.0023711919784546, "yaw": -170.7737274169922 } }, "velocity": { "x": -6.175739765167236, "y": -1.004225254058838, "z": 0.0931549072265625 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 9.297737121582031, "transform": { "location": { "x": 1182.6748046875, "y": 4087.03955078125, "z": 365.3619079589844 }, "rotation": { "roll": -0.00274658203125, "pitch": 1.085105299949646, "yaw": -170.7287139892578 } }, "velocity": { "x": -9.175264358520508, "y": -1.497247576713562, "z": 0.14380903542041779 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.424291610717773, "transform": { "location": { "x": 1144.6104736328125, "y": 4080.84619140625, "z": 365.9841613769531 }, "rotation": { "roll": -0.00039673104765824974, "pitch": 1.100350260734558, "yaw": -170.7277069091797 } }, "velocity": { "x": -8.31320571899414, "y": -1.3562246561050415, "z": 0.1412108838558197 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.841320514678955, "transform": { "location": { "x": 1120.770263671875, "y": 4076.96875, "z": 366.39068603515625 }, "rotation": { "roll": 0.00011713804997270927, "pitch": 0.9946804046630859, "yaw": -170.75794982910156 } }, "velocity": { "x": -6.75147008895874, "y": -1.0985990762710571, "z": 0.11998433619737625 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.018291091546416283, "expert_target_speed": 8.363356318362799, "target_point": [ 42.28840202291291, 0.33420972950480543 ], "target_point_next": [ 42.28840202291291, 0.33420972950480543 ] }, "425": { "acceleration": [ 2.0259761810302734, 0.22605180740356445, -0.029107630252838135 ], "angular_velocity": [ 0.17159974575042725, -0.07099799811840057, 3.567044258117676 ], "forward_vector": [ -0.9877882599830627, -0.1552523523569107, 0.013078912161290646 ], "right_vector": [ 0.15527492761611938, -0.9878710508346558, 0.0007216546218842268 ], "location": [ 1159.8018798828125, 4083.383056640625, 365.7239074707031 ], "rotation": [ -0.041351307183504105, 0.749387800693512, -171.0677947998047 ], "velocity": [ -7.390384197235107, -1.1703523397445679, 0.12146766483783722 ], "speed": 7.482479748177605, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.44246482849121, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1142.598876953125, 4080.51806640625, 366.0207824707031 ], "velocity": [ -7.848680019378662, -1.2775105237960815, 0.1344388872385025 ], "speed_kmh": 28.63117932590789, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.823531150817871, "transform": { "location": { "x": 1130.7161865234375, "y": 4081.809814453125, "z": 366.2083435058594 }, "rotation": { "roll": 0.01782897114753723, "pitch": -1.0544445514678955, "yaw": 9.454263687133789 } }, "velocity": { "x": 7.71741247177124, "y": 1.2770971059799194, "z": -0.13493673503398895 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.056529998779297, "transform": { "location": { "x": 1182.023681640625, "y": 4090.169921875, "z": 365.3595886230469 }, "rotation": { "roll": 0.0007003918872214854, "pitch": -0.8881226181983948, "yaw": 9.239331245422363 } }, "velocity": { "x": 7.9510498046875, "y": 1.2934430837631226, "z": -0.12440590560436249 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.03005599975586, "transform": { "location": { "x": 1212.053466796875, "y": 4095.0517578125, "z": 364.9042053222656 }, "rotation": { "roll": 9.919518925016746e-05, "pitch": -0.8418275713920593, "yaw": 9.23599910736084 } }, "velocity": { "x": 7.925130367279053, "y": 1.2887030839920044, "z": -0.11554958671331406 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.414621353149414, "transform": { "location": { "x": 1199.0850830078125, "y": 4089.702392578125, "z": 365.1101989746094 }, "rotation": { "roll": 7.703766459599137e-05, "pitch": 1.2367559671401978, "yaw": -170.7600555419922 } }, "velocity": { "x": -8.304245948791504, "y": -1.3525772094726562, "z": 0.1260003000497818 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 10.239734649658203, "transform": { "location": { "x": 1180.235595703125, "y": 4086.640869140625, "z": 365.4001159667969 }, "rotation": { "roll": -0.00079345767153427, "pitch": 1.0578323602676392, "yaw": -170.7162322998047 } }, "velocity": { "x": -10.10446548461914, "y": -1.6514103412628174, "z": 0.1574498564004898 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.953105449676514, "transform": { "location": { "x": 1142.598876953125, "y": 4080.51806640625, "z": 366.0207824707031 }, "rotation": { "roll": 0.0004396668227855116, "pitch": 0.8360629081726074, "yaw": -170.7493438720703 } }, "velocity": { "x": -7.848680019378662, "y": -1.2775105237960815, "z": 0.1344388872385025 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.6373748779296875, "transform": { "location": { "x": 1119.112548828125, "y": 4076.69921875, "z": 366.4200744628906 }, "rotation": { "roll": 0.00018258845375385135, "pitch": 0.9969412088394165, "yaw": -170.76113891601562 } }, "velocity": { "x": -6.550257205963135, "y": -1.0655159950256348, "z": 0.11642616242170334 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.02055971883237362, "expert_target_speed": 7.962825999882697, "target_point": [ 40.356556600547194, 0.18054483355098938 ], "target_point_next": [ 40.356556600547194, 0.18054483355098938 ] }, "430": { "acceleration": [ 1.5491485595703125, 0.32547950744628906, -0.024969875812530518 ], "angular_velocity": [ 0.048681505024433136, 0.06342266499996185, -3.109299659729004 ], "forward_vector": [ -0.98759925365448, -0.15645411610603333, 0.013035046868026257 ], "right_vector": [ 0.15647178888320923, -0.9876823425292969, 0.00034192088060081005 ], "location": [ 1158.0145263671875, 4083.099609375, 365.75323486328125 ], "rotation": [ -0.01959228701889515, 0.7468743324279785, -170.9980926513672 ], "velocity": [ -6.94965934753418, -1.1004446744918823, 0.11440204083919525 ], "speed": 7.036244987803277, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.611835479736328, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1140.6456298828125, 4080.199951171875, 366.0535583496094 ], "velocity": [ -7.866020202636719, -1.2805454730987549, 0.1353236883878708 ], "speed_kmh": 28.694593291547402, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.195508003234863, "transform": { "location": { "x": 1132.7003173828125, "y": 4082.1376953125, "z": 366.17315673828125 }, "rotation": { "roll": 0.011773154139518738, "pitch": -0.9218705892562866, "yaw": 9.374764442443848 } }, "velocity": { "x": 8.0853271484375, "y": 1.3320138454437256, "z": -0.13988202810287476 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.08930778503418, "transform": { "location": { "x": 1184.015625, "y": 4090.49365234375, "z": 365.32843017578125 }, "rotation": { "roll": -0.000549322459846735, "pitch": -0.8873576521873474, "yaw": 9.237485885620117 } }, "velocity": { "x": 7.9834794998168945, "y": 1.2982614040374756, "z": -0.12439963966608047 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.040989875793457, "transform": { "location": { "x": 1214.0361328125, "y": 4095.3740234375, "z": 364.8751525878906 }, "rotation": { "roll": 0.0008155088871717453, "pitch": -0.843439519405365, "yaw": 9.240995407104492 } }, "velocity": { "x": 7.935994625091553, "y": 1.2900100946426392, "z": -0.11571712046861649 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 9.44787311553955, "transform": { "location": { "x": 1196.8648681640625, "y": 4089.341064453125, "z": 365.14385986328125 }, "rotation": { "roll": 0.0003674080944620073, "pitch": 1.1346173286437988, "yaw": -170.76133728027344 } }, "velocity": { "x": -9.324284553527832, "y": -1.5166398286819458, "z": 0.14085251092910767 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 9.080253601074219, "transform": { "location": { "x": 1177.8377685546875, "y": 4086.24951171875, "z": 365.4375 }, "rotation": { "roll": 0.0007531229639425874, "pitch": 0.8064608573913574, "yaw": -170.73696899414062 } }, "velocity": { "x": -8.960799217224121, "y": -1.4612177610397339, "z": 0.1411626636981964 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.9707207679748535, "transform": { "location": { "x": 1140.6456298828125, "y": 4080.199951171875, "z": 366.0535583496094 }, "rotation": { "roll": 0.00046704948181286454, "pitch": 0.9338234066963196, "yaw": -170.75547790527344 } }, "velocity": { "x": -7.866020202636719, "y": -1.2805454730987549, "z": 0.1353236883878708 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.471868515014648, "transform": { "location": { "x": 1117.4921875, "y": 4076.435546875, "z": 366.4486999511719 }, "rotation": { "roll": -0.0002441427204757929, "pitch": 0.9951926469802856, "yaw": -170.7663116455078 } }, "velocity": { "x": -6.3870439529418945, "y": -1.0381628274917603, "z": 0.11388511210680008 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.015565961599349976, "expert_target_speed": 7.628663839738735, "target_point": [ 38.54705720043553, 0.1311603398253638 ], "target_point_next": [ 38.54705720043553, 0.1311603398253638 ] }, "435": { "acceleration": [ 1.2508964538574219, 0.23465394973754883, -0.017054378986358643 ], "angular_velocity": [ 0.05918438732624054, 0.124091736972332, 2.7951228618621826 ], "forward_vector": [ -0.9877007603645325, -0.15576878190040588, 0.013538661412894726 ], "right_vector": [ 0.15578316152095795, -0.9877912998199463, 7.456284492945997e-06 ], "location": [ 1156.3216552734375, 4082.8330078125, 365.7809753417969 ], "rotation": [ -0.00042725278763100505, 0.7757318615913391, -171.03778076171875 ], "velocity": [ -6.613557815551758, -1.0352144241333008, 0.10992158949375153 ], "speed": 6.6940881293555865, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.918933868408203, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1138.651123046875, 4079.87548828125, 366.0868225097656 ], "velocity": [ -8.031550407409668, -1.305101752281189, 0.13819798827171326 ], "speed_kmh": 29.297053745049812, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 7.98255729675293, "transform": { "location": { "x": 1134.69921875, "y": 4082.466796875, "z": 366.13873291015625 }, "rotation": { "roll": 0.0052199941128492355, "pitch": -1.0132994651794434, "yaw": 9.354842185974121 } }, "velocity": { "x": 7.875438213348389, "y": 1.2960705757141113, "z": -0.13747502863407135 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.056756973266602, "transform": { "location": { "x": 1186.0074462890625, "y": 4090.8173828125, "z": 365.2972106933594 }, "rotation": { "roll": -3.0512726880260743e-05, "pitch": -0.8873849511146545, "yaw": 9.233207702636719 } }, "velocity": { "x": 7.951483726501465, "y": 1.2922645807266235, "z": -0.12367907166481018 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.027277946472168, "transform": { "location": { "x": 1216.01806640625, "y": 4095.696044921875, "z": 364.84613037109375 }, "rotation": { "roll": 0.000857014674693346, "pitch": -0.8431662917137146, "yaw": 9.23762035369873 } }, "velocity": { "x": 7.922523021697998, "y": 1.2874319553375244, "z": -0.11547884345054626 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.866561889648438, "transform": { "location": { "x": 1194.586669921875, "y": 4088.970947265625, "z": 365.1786193847656 }, "rotation": { "roll": -6.103147825342603e-05, "pitch": 0.8477357029914856, "yaw": -170.7625274658203 } }, "velocity": { "x": -8.750576972961426, "y": -1.4231629371643066, "z": 0.13392749428749084 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.60407543182373, "transform": { "location": { "x": 1175.700439453125, "y": 4085.901123046875, "z": 365.4714050292969 }, "rotation": { "roll": -0.0004882820649072528, "pitch": 0.8221839666366577, "yaw": -170.7494354248047 } }, "velocity": { "x": -8.491106033325195, "y": -1.383081078529358, "z": 0.13534565269947052 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.138070106506348, "transform": { "location": { "x": 1138.651123046875, "y": 4079.87548828125, "z": 366.0868225097656 }, "rotation": { "roll": 0.0006442932062782347, "pitch": 1.0476690530776978, "yaw": -170.76422119140625 } }, "velocity": { "x": -8.031550407409668, "y": -1.305101752281189, "z": 0.13819798827171326 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 6.1497087478637695, "transform": { "location": { "x": 1115.9384765625, "y": 4076.18310546875, "z": 366.476318359375 }, "rotation": { "roll": -3.0520310247084126e-05, "pitch": 0.9922693371772766, "yaw": -170.7667694091797 } }, "velocity": { "x": -6.069098949432373, "y": -0.986703097820282, "z": 0.10665084421634674 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": -0.004229673184454441, "expert_target_speed": 7.373236551840179, "target_point": [ 36.83322181659184, 0.1582231474311575 ], "target_point_next": [ 36.83322181659184, 0.1582231474311575 ] }, "440": { "acceleration": [ 1.0343360900878906, 0.17598986625671387, -0.016006380319595337 ], "angular_velocity": [ -0.11070303618907928, 0.11246119439601898, -3.341952085494995 ], "forward_vector": [ -0.9879357814788818, -0.15421614050865173, 0.014150980859994888 ], "right_vector": [ 0.15423209965229034, -0.9880346655845642, 3.728048977791332e-05 ], "location": [ 1154.7061767578125, 4082.58056640625, 365.80755615234375 ], "rotation": [ -0.0021362286061048508, 0.8108185529708862, -171.1277618408203 ], "velocity": [ -6.330008506774902, -0.9875501990318298, 0.10562879592180252 ], "speed": 6.40657967182571, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 18.31300926208496, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1136.6484375, 4079.5498046875, 366.1219787597656 ], "velocity": [ -7.973751544952393, -1.2961716651916504, 0.13855817914009094 ], "speed_kmh": 29.08656821965196, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.013208389282227, "transform": { "location": { "x": 1136.6634521484375, "y": 4082.78857421875, "z": 366.10455322265625 }, "rotation": { "roll": 0.008001698181033134, "pitch": -1.0107723474502563, "yaw": 9.30510139465332 } }, "velocity": { "x": 7.907036781311035, "y": 1.2929352521896362, "z": -0.13634845614433289 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.089163780212402, "transform": { "location": { "x": 1187.9996337890625, "y": 4091.140625, "z": 365.2662353515625 }, "rotation": { "roll": -0.00012206393148517236, "pitch": -0.877870500087738, "yaw": 9.231061935424805 } }, "velocity": { "x": 7.983475208282471, "y": 1.2974913120269775, "z": -0.12329797446727753 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.04338264465332, "transform": { "location": { "x": 1218.0008544921875, "y": 4096.0185546875, "z": 364.8172607421875 }, "rotation": { "roll": -0.00018310720042791218, "pitch": -0.8351066708564758, "yaw": 9.239269256591797 } }, "velocity": { "x": 7.938209056854248, "y": 1.291344404220581, "z": -0.11521609872579575 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.874214172363281, "transform": { "location": { "x": 1192.4071044921875, "y": 4088.6162109375, "z": 365.21209716796875 }, "rotation": { "roll": 0.0004717572301160544, "pitch": 0.8665460348129272, "yaw": -170.76463317871094 } }, "velocity": { "x": -8.758333206176758, "y": -1.4230798482894897, "z": 0.1346338838338852 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 9.431127548217773, "transform": { "location": { "x": 1173.4779052734375, "y": 4085.539306640625, "z": 365.5068664550781 }, "rotation": { "roll": -9.154737927019596e-05, "pitch": 0.9843531250953674, "yaw": -170.75323486328125 } }, "velocity": { "x": -9.307474136352539, "y": -1.5149961709976196, "z": 0.14794215559959412 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.079602241516113, "transform": { "location": { "x": 1136.6484375, "y": 4079.5498046875, "z": 366.1219787597656 }, "rotation": { "roll": -0.0003051762469112873, "pitch": 0.9901451468467712, "yaw": -170.7676239013672 } }, "velocity": { "x": -7.973751544952393, "y": -1.2961716651916504, "z": 0.13855817914009094 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.99284029006958, "transform": { "location": { "x": 1114.44140625, "y": 4075.93994140625, "z": 366.5027160644531 }, "rotation": { "roll": -3.0513665478792973e-05, "pitch": 0.9948784708976746, "yaw": -170.76617431640625 } }, "velocity": { "x": -5.914283752441406, "y": -0.9614506363868713, "z": 0.10484382510185242 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.009780238382518291, "expert_target_speed": 7.149370184443126, "target_point": [ 35.19784455025788, 0.2158136296102473 ], "target_point_next": [ 35.19784455025788, 0.2158136296102473 ] }, "445": { "acceleration": [ 0.8405780792236328, 0.14091014862060547, -0.009676367044448853 ], "angular_velocity": [ 0.05070449411869049, 0.12358970195055008, 3.116128444671631 ], "forward_vector": [ -0.987927258014679, -0.1542157530784607, 0.014739932492375374 ], "right_vector": [ 0.15423275530338287, -0.9880345463752747, 1.5977071598172188e-05 ], "location": [ 1153.1544189453125, 4082.3388671875, 365.8331604003906 ], "rotation": [ -0.0009155182633548975, 0.8445665240287781, -171.12771606445312 ], "velocity": [ -6.098764896392822, -0.9479323625564575, 0.10261312127113342 ], "speed": 6.171993926232853, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 18.748672485351562, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1134.66845703125, 4079.22802734375, 366.1565856933594 ], "velocity": [ -7.899432182312012, -1.282942771911621, 0.13835544884204865 ], "speed_kmh": 28.81487162788791, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.078768730163574, "transform": { "location": { "x": 1138.6551513671875, "y": 4083.1142578125, "z": 366.070068359375 }, "rotation": { "roll": 0.002957811113446951, "pitch": -0.9648666381835938, "yaw": 9.283286094665527 } }, "velocity": { "x": 7.971817493438721, "y": 1.3028969764709473, "z": -0.13818278908729553 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.056150436401367, "transform": { "location": { "x": 1189.9913330078125, "y": 4091.4638671875, "z": 365.23541259765625 }, "rotation": { "roll": 0.0007011883426457644, "pitch": -0.8663889765739441, "yaw": 9.233203887939453 } }, "velocity": { "x": 7.950808048248291, "y": 1.2927591800689697, "z": -0.12245295196771622 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.025910377502441, "transform": { "location": { "x": 1219.9832763671875, "y": 4096.3408203125, "z": 364.78839111328125 }, "rotation": { "roll": 0.00015761128452140838, "pitch": -0.8339182138442993, "yaw": 9.236248016357422 } }, "velocity": { "x": 7.921058177947998, "y": 1.2880120277404785, "z": -0.11441213637590408 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 9.06718921661377, "transform": { "location": { "x": 1190.189453125, "y": 4088.255859375, "z": 365.2461242675781 }, "rotation": { "roll": -9.155199222732335e-05, "pitch": 0.9060450196266174, "yaw": -170.76280212402344 } }, "velocity": { "x": -8.948586463928223, "y": -1.4552932977676392, "z": 0.13721521198749542 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.648890495300293, "transform": { "location": { "x": 1171.216796875, "y": 4085.171875, "z": 365.5425720214844 }, "rotation": { "roll": 0.00018610253755468875, "pitch": 0.8382622599601746, "yaw": -170.76229858398438 } }, "velocity": { "x": -8.535619735717773, "y": -1.3885411024093628, "z": 0.13587358593940735 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.004130363464355, "transform": { "location": { "x": 1134.66845703125, "y": 4079.22802734375, "z": 366.1565856933594 }, "rotation": { "roll": 0.0007676128880120814, "pitch": 0.9718539118766785, "yaw": -170.77346801757812 } }, "velocity": { "x": -7.899432182312012, "y": -1.282942771911621, "z": 0.13835544884204865 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.700306415557861, "transform": { "location": { "x": 1112.9993896484375, "y": 4075.70556640625, "z": 366.5282287597656 }, "rotation": { "roll": 8.212131797336042e-05, "pitch": 0.9920780658721924, "yaw": -170.76356506347656 } }, "velocity": { "x": -5.625528335571289, "y": -0.9148878455162048, "z": 0.09951809048652649 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.020099155604839325, "expert_target_speed": 6.964047350924611, "target_point": [ 33.62737649903998, 0.21630417933406498 ], "target_point_next": [ 33.62737649903998, 0.21630417933406498 ] }, "450": { "acceleration": [ 0.36507606506347656, 0.07581949234008789, -0.015768706798553467 ], "angular_velocity": [ -0.10062295198440552, 0.15539205074310303, -3.369091749191284 ], "forward_vector": [ -0.9880844354629517, -0.15315383672714233, 0.01526653952896595 ], "right_vector": [ 0.1531725972890854, -0.9881994724273682, 6.071291500120424e-05 ], "location": [ 1151.6514892578125, 4082.10546875, 365.8582458496094 ], "rotation": [ -0.003478999249637127, 0.8747422695159912, -171.18922424316406 ], "velocity": [ -5.950958251953125, -0.9213210940361023, 0.09905385971069336 ], "speed": 6.021854919773879, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 19.24064826965332, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1132.6817626953125, 4078.9052734375, 366.1910705566406 ], "velocity": [ -7.986333847045898, -1.2975198030471802, 0.13933075964450836 ], "speed_kmh": 29.13209754294983, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.009651184082031, "transform": { "location": { "x": 1140.6375732421875, "y": 4083.43798828125, "z": 366.0360412597656 }, "rotation": { "roll": 0.005233385134488344, "pitch": -1.001886248588562, "yaw": 9.265440940856934 } }, "velocity": { "x": 7.904419422149658, "y": 1.2870603799819946, "z": -0.13470540940761566 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.08973503112793, "transform": { "location": { "x": 1191.9833984375, "y": 4091.7880859375, "z": 365.2048645019531 }, "rotation": { "roll": -0.0003662108210846782, "pitch": -0.8676457405090332, "yaw": 9.237942695617676 } }, "velocity": { "x": 7.983887195587158, "y": 1.298523187637329, "z": -0.12326330691576004 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 1222.00048828125, "y": 4096.6279296875, "z": 364.76104736328125 }, "rotation": { "roll": 0.0, "pitch": -0.8204354643821716, "yaw": 9.234709739685059 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 9.31851577758789, "transform": { "location": { "x": 1187.9219970703125, "y": 4087.88720703125, "z": 365.28118896484375 }, "rotation": { "roll": 0.0003260922967456281, "pitch": 0.9428802132606506, "yaw": -170.76113891601562 } }, "velocity": { "x": -9.19670295715332, "y": -1.49501371383667, "z": 0.14257760345935822 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.3459625244140625, "transform": { "location": { "x": 1169.2652587890625, "y": 4084.854248046875, "z": 365.57354736328125 }, "rotation": { "roll": -0.0008850080193951726, "pitch": 0.7293275594711304, "yaw": -170.767333984375 } }, "velocity": { "x": -7.249839782714844, "y": -1.17886483669281, "z": 0.11517732590436935 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.092249870300293, "transform": { "location": { "x": 1132.6817626953125, "y": 4078.9052734375, "z": 366.1910705566406 }, "rotation": { "roll": -0.0005188077921047807, "pitch": 1.0080265998840332, "yaw": -170.77294921875 } }, "velocity": { "x": -7.986333847045898, "y": -1.2975198030471802, "z": 0.13933075964450836 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.491028785705566, "transform": { "location": { "x": 1111.6204833984375, "y": 4075.481201171875, "z": 366.5525207519531 }, "rotation": { "roll": 0.0001359903981210664, "pitch": 0.9897216558456421, "yaw": -170.76565551757812 } }, "velocity": { "x": -5.419098377227783, "y": -0.8807008266448975, "z": 0.09558814764022827 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.031105563044548035, "expert_target_speed": 6.850667681451423, "target_point": [ 32.10618029853482, 0.25197582924639317 ], "target_point_next": [ 32.10618029853482, 0.25197582924639317 ] }, "455": { "acceleration": [ -0.1907825469970703, -0.017025470733642578, 0.02970874309539795 ], "angular_velocity": [ 0.05035076290369034, 0.26117730140686035, 3.136242628097534 ], "forward_vector": [ -0.9880638122558594, -0.15319718420505524, 0.016143690794706345 ], "right_vector": [ 0.15321795642375946, -0.9881924390792847, 5.059340037405491e-05 ], "location": [ 1150.1673583984375, 4081.87646484375, 365.8828430175781 ], "rotation": [ -0.002899165963754058, 0.9250056147575378, -171.18658447265625 ], "velocity": [ -5.941978454589844, -0.9169655442237854, 0.1003711074590683 ], "speed": 6.012315175047257, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 19.758773803710938, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1130.6883544921875, 4078.5810546875, 366.2260437011719 ], "velocity": [ -7.94973087310791, -1.2930572032928467, 0.13863778114318848 ], "speed_kmh": 28.999433108764382, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.037187576293945, "transform": { "location": { "x": 1142.6158447265625, "y": 4083.76025390625, "z": 366.0021667480469 }, "rotation": { "roll": 0.0019066083477810025, "pitch": -0.9798588752746582, "yaw": 9.251389503479004 } }, "velocity": { "x": 7.931717872619629, "y": 1.290740966796875, "z": -0.13499715924263 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.055908203125, "transform": { "location": { "x": 1193.97509765625, "y": 4092.1123046875, "z": 365.17431640625 }, "rotation": { "roll": -0.000946049636695534, "pitch": -0.8677071928977966, "yaw": 9.24135971069336 } }, "velocity": { "x": 7.950562477111816, "y": 1.2928118705749512, "z": -0.12185447663068771 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 1224.0626220703125, "y": 4096.919921875, "z": 364.7331848144531 }, "rotation": { "roll": 0.0, "pitch": -0.8216853737831116, "yaw": 9.234705924987793 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.20259952545166, "transform": { "location": { "x": 1185.7471923828125, "y": 4087.533447265625, "z": 365.3150939941406 }, "rotation": { "roll": 0.0004199714749120176, "pitch": 0.7391971945762634, "yaw": -170.7633819580078 } }, "velocity": { "x": -8.095269203186035, "y": -1.3164117336273193, "z": 0.1277446299791336 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 6.12702751159668, "transform": { "location": { "x": 1167.6195068359375, "y": 4084.586669921875, "z": 365.5998840332031 }, "rotation": { "roll": -0.00042724705417640507, "pitch": 0.7168692946434021, "yaw": -170.7702178955078 } }, "velocity": { "x": -6.046855449676514, "y": -0.9831500053405762, "z": 0.09707669913768768 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.055397987365723, "transform": { "location": { "x": 1130.6883544921875, "y": 4078.5810546875, "z": 366.2260437011719 }, "rotation": { "roll": -0.0005798292113468051, "pitch": 1.0110933780670166, "yaw": -170.76905822753906 } }, "velocity": { "x": -7.94973087310791, "y": -1.2930572032928467, "z": 0.13863778114318848 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.303029537200928, "transform": { "location": { "x": 1110.294921875, "y": 4075.265869140625, "z": 366.5759582519531 }, "rotation": { "roll": 0.00015743142284918576, "pitch": 0.9917092323303223, "yaw": -170.76918029785156 } }, "velocity": { "x": -5.233584880828857, "y": -0.8504423499107361, "z": 0.09198202192783356 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.04485079273581505, "expert_target_speed": 6.841987886637692, "target_point": [ 30.604497542624845, 0.25158495764190647 ], "target_point_next": [ 30.604497542624845, 0.25158495764190647 ] }, "460": { "acceleration": [ -0.4725933074951172, -0.13918519020080566, 0.00698775053024292 ], "angular_velocity": [ -0.10172269493341446, 0.2021835595369339, -2.759366273880005 ], "forward_vector": [ -0.9880483150482178, -0.1531851440668106, 0.017168868333101273 ], "right_vector": [ 0.15321317315101624, -0.9881930947303772, 0.00032112986082211137 ], "location": [ 1148.67041015625, 4081.64404296875, 365.9078674316406 ], "rotation": [ -0.018402099609375, 0.9837520718574524, -171.1871337890625 ], "velocity": [ -6.036811351776123, -0.9457002282142639, 0.10054109245538712 ], "speed": 6.110436990803323, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 20.257829666137695, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1128.70068359375, 4078.258056640625, 366.2611389160156 ], "velocity": [ -7.957590579986572, -1.2940771579742432, 0.1396675854921341 ], "speed_kmh": 29.028010295374866, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.05124568939209, "transform": { "location": { "x": 1144.6026611328125, "y": 4084.084228515625, "z": 365.9683837890625 }, "rotation": { "roll": 0.000596045923884958, "pitch": -0.9689920544624329, "yaw": 9.249146461486816 } }, "velocity": { "x": 7.945450305938721, "y": 1.2938636541366577, "z": -0.13528409600257874 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.089836120605469, "transform": { "location": { "x": 1195.967041015625, "y": 4092.4365234375, "z": 365.1437683105469 }, "rotation": { "roll": -0.0005187936476431787, "pitch": -0.8674613237380981, "yaw": 9.240076065063477 } }, "velocity": { "x": 7.983945846557617, "y": 1.2988173961639404, "z": -0.12298278510570526 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5988, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 0.0, "transform": { "location": { "x": 1226.1201171875, "y": 4097.24609375, "z": 364.7037048339844 }, "rotation": { "roll": 0.0, "pitch": -0.8216853737831116, "yaw": 9.234705924987793 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 6.928696632385254, "transform": { "location": { "x": 1183.88134765625, "y": 4087.230224609375, "z": 365.3443908691406 }, "rotation": { "roll": 0.0011258048471063375, "pitch": 0.6728214025497437, "yaw": -170.76512145996094 } }, "velocity": { "x": -6.838210105895996, "y": -1.1109646558761597, "z": 0.10714654624462128 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 6.224471569061279, "transform": { "location": { "x": 1166.10693359375, "y": 4084.3408203125, "z": 365.6243591308594 }, "rotation": { "roll": -0.00012207096733618528, "pitch": 0.8892086148262024, "yaw": -170.7711181640625 } }, "velocity": { "x": -6.143141269683838, "y": -0.9981423020362854, "z": 0.0978260412812233 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 8.063336372375488, "transform": { "location": { "x": 1128.70068359375, "y": 4078.258056640625, "z": 366.2611389160156 }, "rotation": { "roll": -0.0006408691988326609, "pitch": 1.0061278343200684, "yaw": -170.7630157470703 } }, "velocity": { "x": -7.957590579986572, "y": -1.2940771579742432, "z": 0.1396675854921341 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.242015361785889, "transform": { "location": { "x": 1108.98974609375, "y": 4075.0537109375, "z": 366.59881591796875 }, "rotation": { "roll": 0.00011397592606954277, "pitch": 0.9942979216575623, "yaw": -170.76773071289062 } }, "velocity": { "x": -5.1732096672058105, "y": -0.8415884971618652, "z": 0.09140916913747787 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.05475959926843643, "expert_target_speed": 6.94554394855014, "target_point": [ 29.089611035420617, 0.2515427500109011 ], "target_point_next": [ 29.089611035420617, 0.2515427500109011 ] }, "465": { "acceleration": [ -0.8096027374267578, -0.17876505851745605, 0.005477219820022583 ], "angular_velocity": [ -0.0386885367333889, 0.14035046100616455, 3.581697702407837 ], "forward_vector": [ -0.9876407980918884, -0.1557006984949112, 0.01797102391719818 ], "right_vector": [ 0.15573275089263916, -0.9877991676330566, 0.0003903564065694809 ], "location": [ 1147.1412353515625, 4081.403076171875, 365.9333801269531 ], "rotation": [ -0.02236938662827015, 1.0297192335128784, -171.04110717773438 ], "velocity": [ -6.200445652008057, -0.9849445223808289, 0.1041576936841011 ], "speed": 6.278187795508638, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 20.711122512817383, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1126.7254638671875, 4077.936767578125, 366.2961120605469 ], "velocity": [ -7.800468444824219, -1.2667670249938965, 0.13798339664936066 ], "speed_kmh": 28.45390583195763, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.016461372375488, "transform": { "location": { "x": 1146.583251953125, "y": 4084.406494140625, "z": 365.9349060058594 }, "rotation": { "roll": 0.00021914496028330177, "pitch": -0.9787319302558899, "yaw": 9.243825912475586 } }, "velocity": { "x": 7.911421298980713, "y": 1.2864981889724731, "z": -0.13408459722995758 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.055819511413574, "transform": { "location": { "x": 1197.9586181640625, "y": 4092.760498046875, "z": 365.1134338378906 }, "rotation": { "roll": -0.0001831016270443797, "pitch": -0.8580902814865112, "yaw": 9.23997974395752 } }, "velocity": { "x": 7.950422763824463, "y": 1.293378233909607, "z": -0.11909398436546326 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 6.261279582977295, "transform": { "location": { "x": 1182.2923583984375, "y": 4086.9716796875, "z": 365.3693542480469 }, "rotation": { "roll": -0.0017395043978467584, "pitch": 0.7290611863136292, "yaw": -170.76385498046875 } }, "velocity": { "x": -6.179175853729248, "y": -1.0060844421386719, "z": 0.09591396152973175 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.04859447479248, "transform": { "location": { "x": 1164.392578125, "y": 4084.061767578125, "z": 365.65240478515625 }, "rotation": { "roll": -0.0010375975398346782, "pitch": 1.1508594751358032, "yaw": -170.75552368164062 } }, "velocity": { "x": -7.942861080169678, "y": -1.293914556503296, "z": 0.1288892775774002 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.903862953186035, "transform": { "location": { "x": 1126.7254638671875, "y": 4077.936767578125, "z": 366.2961120605469 }, "rotation": { "roll": 0.0013212582562118769, "pitch": 0.9892299175262451, "yaw": -170.7682647705078 } }, "velocity": { "x": -7.800468444824219, "y": -1.2667670249938965, "z": 0.13798339664936066 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 5.210338115692139, "transform": { "location": { "x": 1107.728759765625, "y": 4074.848388671875, "z": 366.6209716796875 }, "rotation": { "roll": 0.00015310864546336234, "pitch": 0.9938812851905823, "yaw": -170.7624053955078 } }, "velocity": { "x": -5.141957759857178, "y": -0.8363694548606873, "z": 0.09154466539621353 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.054521702229976654, "expert_target_speed": 7.0922371287610915, "target_point": [ 27.542113548664656, 0.1775062045607294 ], "target_point_next": [ 27.542113548664656, 0.1775062045607294 ] }, "470": { "acceleration": [ -1.1380958557128906, -0.0223386287689209, 0.020820200443267822 ], "angular_velocity": [ 0.14572970569133759, 0.15238308906555176, -3.9349772930145264 ], "forward_vector": [ -0.9878236651420593, -0.15445847809314728, 0.01862906664609909 ], "right_vector": [ 0.15448017418384552, -0.9879958033561707, -0.0002772168954834342 ], "location": [ 1145.558837890625, 4081.155029296875, 365.96002197265625 ], "rotation": [ 0.01588611491024494, 1.067428708076477, -171.11305236816406 ], "velocity": [ -6.458091735839844, -0.9935116171836853, 0.10834512114524841 ], "speed": 6.534065671693377, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 21.044443130493164, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1124.815673828125, 4077.626220703125, 366.33050537109375 ], "velocity": [ -7.483757972717285, -1.2161850929260254, 0.13382114470005035 ], "speed_kmh": 27.29921745847508, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.050911903381348, "transform": { "location": { "x": 1148.5657958984375, "y": 4084.72900390625, "z": 365.9014892578125 }, "rotation": { "roll": 0.000510829035192728, "pitch": -0.9642655849456787, "yaw": 9.243070602416992 } }, "velocity": { "x": 7.945457458496094, "y": 1.291816234588623, "z": -0.13450755178928375 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.089791297912598, "transform": { "location": { "x": 1199.9508056640625, "y": 4093.084228515625, "z": 365.0834045410156 }, "rotation": { "roll": 0.0006333357887342572, "pitch": -0.8474420309066772, "yaw": 9.236339569091797 } }, "velocity": { "x": 7.98402738571167, "y": 1.2983490228652954, "z": -0.11962481588125229 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.125102519989014, "transform": { "location": { "x": 1180.70166015625, "y": 4086.713134765625, "z": 365.394287109375 }, "rotation": { "roll": -0.0011291534174233675, "pitch": 0.9782742857933044, "yaw": -170.75904846191406 } }, "velocity": { "x": -7.031789302825928, "y": -1.1440750360488892, "z": 0.11009364575147629 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.866667747497559, "transform": { "location": { "x": 1162.3668212890625, "y": 4083.732177734375, "z": 365.6850280761719 }, "rotation": { "roll": -0.0005798399797640741, "pitch": 0.9580159187316895, "yaw": -170.7378692626953 } }, "velocity": { "x": -7.763417720794678, "y": -1.2640690803527832, "z": 0.12622666358947754 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.583116054534912, "transform": { "location": { "x": 1124.815673828125, "y": 4077.626220703125, "z": 366.33050537109375 }, "rotation": { "roll": -0.0021972793620079756, "pitch": 0.9357222318649292, "yaw": -170.77001953125 } }, "velocity": { "x": -7.483757972717285, "y": -1.2161850929260254, "z": 0.13382114470005035 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 4.70673131942749, "transform": { "location": { "x": 1106.4910888671875, "y": 4074.646728515625, "z": 366.642578125 }, "rotation": { "roll": -3.0513572710333392e-05, "pitch": 0.9849678874015808, "yaw": -170.7606201171875 } }, "velocity": { "x": -4.644987106323242, "y": -0.7554932832717896, "z": 0.081511951982975 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.07075119018554688, "expert_target_speed": 7.305083449930586, "target_point": [ 25.940148466893785, 0.2114736942461115 ], "target_point_next": [ 25.940148466893785, 0.2114736942461115 ] }, "475": { "acceleration": [ -1.2703514099121094, -0.06815671920776367, 0.04173547029495239 ], "angular_velocity": [ -0.013329886831343174, 0.13746079802513123, 1.949165940284729 ], "forward_vector": [ -0.9883873462677002, -0.1507396101951599, 0.01918281428515911 ], "right_vector": [ 0.15075919032096863, -0.9885703921318054, -0.00042951933573931456 ], "location": [ 1143.905517578125, 4080.903564453125, 365.9878845214844 ], "rotation": [ 0.02461417391896248, 1.0991617441177368, -171.32859802246094 ], "velocity": [ -6.761771202087402, -1.0105754137039185, 0.11447378247976303 ], "speed": 6.836871540124281, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 21.220396041870117, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1122.9915771484375, 4077.329833984375, 366.363037109375 ], "velocity": [ -7.142029762268066, -1.1606522798538208, 0.12711875140666962 ], "speed_kmh": 26.0526261965638, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.026250839233398, "transform": { "location": { "x": 1150.549560546875, "y": 4085.05126953125, "z": 365.8681945800781 }, "rotation": { "roll": 0.002106508705765009, "pitch": -0.9604747891426086, "yaw": 9.238121032714844 } }, "velocity": { "x": 7.921051979064941, "y": 1.2882946729660034, "z": -0.13392004370689392 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.056480407714844, "transform": { "location": { "x": 1201.9425048828125, "y": 4093.407958984375, "z": 365.0535583496094 }, "rotation": { "roll": 0.00014306946832221001, "pitch": -0.8487875461578369, "yaw": 9.23590087890625 } }, "velocity": { "x": 7.951169967651367, "y": 1.292937994003296, "z": -0.11869969964027405 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 9.007387161254883, "transform": { "location": { "x": 1178.6678466796875, "y": 4086.38232421875, "z": 365.4263610839844 }, "rotation": { "roll": -0.0005493090720847249, "pitch": 1.2264628410339355, "yaw": -170.76504516601562 } }, "velocity": { "x": -8.889311790466309, "y": -1.4469741582870483, "z": 0.13935373723506927 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 6.635544776916504, "transform": { "location": { "x": 1160.5828857421875, "y": 4083.44189453125, "z": 365.7138671875 }, "rotation": { "roll": 0.0005708294338546693, "pitch": 0.7959628701210022, "yaw": -170.74176025390625 } }, "velocity": { "x": -6.548652172088623, "y": -1.0648880004882812, "z": 0.10778659582138062 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.236840724945068, "transform": { "location": { "x": 1122.9915771484375, "y": 4077.329833984375, "z": 366.363037109375 }, "rotation": { "roll": -0.0005493095959536731, "pitch": 0.9343630075454712, "yaw": -170.76956176757812 } }, "velocity": { "x": -7.142029762268066, "y": -1.1606522798538208, "z": 0.12711875140666962 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 3.257920503616333, "transform": { "location": { "x": 1105.5155029296875, "y": 4074.48828125, "z": 366.66009521484375 }, "rotation": { "roll": 1.2308043551456649e-05, "pitch": 0.9516160488128662, "yaw": -170.76205444335938 } }, "velocity": { "x": -3.215367555618286, "y": -0.5218557119369507, "z": 0.05589485168457031 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.09253563731908798, "expert_target_speed": 7.548449032657804, "target_point": [ 24.26683492188765, 0.30974123891650507 ], "target_point_next": [ 24.26683492188765, 0.30974123891650507 ] }, "480": { "acceleration": [ -1.3420677185058594, -0.07256507873535156, 0.01066550612449646 ], "angular_velocity": [ 0.04225669801235199, 0.103322833776474, -3.8564624786376953 ], "forward_vector": [ -0.9891010522842407, -0.14591354131698608, 0.01970759592950344 ], "right_vector": [ 0.14593274891376495, -0.9892944097518921, -0.0004679350240621716 ], "location": [ 1142.1715087890625, 4080.6474609375, 366.017333984375 ], "rotation": [ 0.026815911754965782, 1.1292351484298706, -171.60816955566406 ], "velocity": [ -7.097652435302734, -1.0297399759292603, 0.12039348483085632 ], "speed": 7.17196169192123, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 21.2525634765625, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1121.2301025390625, 4077.043701171875, 366.39404296875 ], "velocity": [ -6.962699890136719, -1.1332637071609497, 0.12323592603206635 ], "speed_kmh": 25.399438551801055, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.041192054748535, "transform": { "location": { "x": 1152.53125, "y": 4085.373291015625, "z": 365.8349914550781 }, "rotation": { "roll": 0.00041833455907180905, "pitch": -0.9611783027648926, "yaw": 9.237322807312012 } }, "velocity": { "x": 7.935842514038086, "y": 1.2906033992767334, "z": -0.1323583424091339 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.088874816894531, "transform": { "location": { "x": 1203.9344482421875, "y": 4093.7314453125, "z": 365.0236511230469 }, "rotation": { "roll": 0.00020694280101452023, "pitch": -0.8497915863990784, "yaw": 9.235969543457031 } }, "velocity": { "x": 7.983139991760254, "y": 1.2981147766113281, "z": -0.11949100345373154 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.190238952636719, "transform": { "location": { "x": 1176.5191650390625, "y": 4086.03271484375, "z": 365.4601135253906 }, "rotation": { "roll": 5.344035889720544e-05, "pitch": 0.8680896759033203, "yaw": -170.7656707763672 } }, "velocity": { "x": -8.083098411560059, "y": -1.3140994310379028, "z": 0.12912896275520325 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 5.293471336364746, "transform": { "location": { "x": 1159.179443359375, "y": 4083.2138671875, "z": 365.7366638183594 }, "rotation": { "roll": -0.0010986289707943797, "pitch": 0.7567029595375061, "yaw": -170.80422973632812 } }, "velocity": { "x": -5.22431755065918, "y": -0.8484296202659607, "z": 0.08666273206472397 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 7.055399417877197, "transform": { "location": { "x": 1121.2301025390625, "y": 4077.043701171875, "z": 366.39404296875 }, "rotation": { "roll": -0.0009155288571491838, "pitch": 0.9663009643554688, "yaw": -170.76385498046875 } }, "velocity": { "x": -6.962699890136719, "y": -1.1332637071609497, "z": 0.12323592603206635 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 1.179625153541565, "transform": { "location": { "x": 1104.9012451171875, "y": 4074.382080078125, "z": 366.6710510253906 }, "rotation": { "roll": -0.0014648445649072528, "pitch": 0.9371019005775452, "yaw": -170.39552307128906 } }, "velocity": { "x": -1.1554125547409058, "y": -0.23690244555473328, "z": 0.020354757085442543 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.12281627207994461, "expert_target_speed": 7.811666960180941, "target_point": [ 22.512215597352224, 0.4278385470595554 ], "target_point_next": [ 22.512215597352224, 0.4278385470595554 ] }, "485": { "acceleration": [ -1.2507915496826172, -0.1917266845703125, 0.030670464038848877 ], "angular_velocity": [ -0.15312650799751282, -0.02590598538517952, 2.253404378890991 ], "forward_vector": [ -0.9895675182342529, -0.14269503951072693, 0.01985788904130459 ], "right_vector": [ 0.14271867275238037, -0.9897633194923401, -0.00022944655211176723 ], "location": [ 1140.3546142578125, 4080.38623046875, 366.04840087890625 ], "rotation": [ 0.013148912228643894, 1.1378480195999146, -171.79454040527344 ], "velocity": [ -7.420532703399658, -1.0596596002578735, 0.12729182839393616 ], "speed": 7.495811101584839, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 20.845565795898438, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1119.82080078125, 4076.814208984375, 366.4236145019531 ], "velocity": [ -3.0058770179748535, -0.48896536231040955, 0.05132615938782692 ], "speed_kmh": 10.964951216939665, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.030965805053711, "transform": { "location": { "x": 1154.51416015625, "y": 4085.69580078125, "z": 365.8020935058594 }, "rotation": { "roll": -0.0010070783318951726, "pitch": -0.9522990584373474, "yaw": 9.244569778442383 } }, "velocity": { "x": 7.925593852996826, "y": 1.2901067733764648, "z": -0.13037072122097015 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 8.056571960449219, "transform": { "location": { "x": 1205.926025390625, "y": 4094.054931640625, "z": 364.9937744140625 }, "rotation": { "roll": 0.00015803884889464825, "pitch": -0.8495388627052307, "yaw": 9.237010955810547 } }, "velocity": { "x": 7.95111083984375, "y": 1.293837547302246, "z": -0.1190698891878128 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 6.731961250305176, "transform": { "location": { "x": 1174.6741943359375, "y": 4085.732666015625, "z": 365.4893798828125 }, "rotation": { "roll": -0.0005493151256814599, "pitch": 0.6789412498474121, "yaw": -170.76516723632812 } }, "velocity": { "x": -6.643893241882324, "y": -1.0802010297775269, "z": 0.10559423267841339 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 5.2965898513793945, "transform": { "location": { "x": 1157.876953125, "y": 4083.00244140625, "z": 365.75830078125 }, "rotation": { "roll": -0.0006408683839254081, "pitch": 0.8937643766403198, "yaw": -170.74267578125 } }, "velocity": { "x": -5.22723913192749, "y": -0.8499863743782043, "z": 0.0857931524515152 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 3.0458197593688965, "transform": { "location": { "x": 1119.82080078125, "y": 4076.814208984375, "z": 366.4236145019531 }, "rotation": { "roll": 3.4185039112344384e-05, "pitch": 0.37844711542129517, "yaw": -170.76119995117188 } }, "velocity": { "x": -3.0058770179748535, "y": -0.48896536231040955, "z": 0.05132615938782692 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0005104128504171968, "transform": { "location": { "x": 1104.8807373046875, "y": 4074.37890625, "z": 366.6713562011719 }, "rotation": { "roll": 0.008488302119076252, "pitch": 0.9438842535018921, "yaw": -170.33724975585938 } }, "velocity": { "x": 0.00018976478895638138, "y": -0.00022822478786110878, "z": -0.00041523974505253136 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.15603744983673096, "expert_target_speed": 7.945166617625649, "target_point": [ 20.67512675687489, 0.5018250205931309 ], "target_point_next": [ 20.67512675687489, 0.5018250205931309 ] }, "490": { "acceleration": [ -1.2008857727050781, -0.31906604766845703, 0.024071931838989258 ], "angular_velocity": [ -0.10643899440765381, 5.5915501434355974e-05, -1.7127671241760254 ], "forward_vector": [ -0.9893162250518799, -0.14443089067935944, 0.019828209653496742 ], "right_vector": [ 0.14447233080863953, -0.9895085692405701, 0.0006656594341620803 ], "location": [ 1138.4598388671875, 4080.10986328125, 366.0809631347656 ], "rotation": [ -0.0381469763815403, 1.1361472606658936, -171.69403076171875 ], "velocity": [ -7.7241692543029785, -1.1456634998321533, 0.13223759829998016 ], "speed": 7.808670534986547, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 19.107643127441406, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1119.646728515625, 4076.7861328125, 366.4298400878906 ], "velocity": [ -0.3677637279033661, -0.059084147214889526, 0.006370849441736937 ], "speed_kmh": 1.3411228956437475, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.042278289794922, "transform": { "location": { "x": 1156.4970703125, "y": 4086.01806640625, "z": 365.7693786621094 }, "rotation": { "roll": 0.0, "pitch": -0.9452776312828064, "yaw": 9.242520332336426 } }, "velocity": { "x": 7.936835289001465, "y": 1.2914243936538696, "z": -0.13080936670303345 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 1207.9356689453125, "y": 4094.335205078125, "z": 364.9664001464844 }, "rotation": { "roll": 0.0, "pitch": -0.8371557593345642, "yaw": 9.23470687866211 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 4.054752349853516, "transform": { "location": { "x": 1173.4398193359375, "y": 4085.532470703125, "z": 365.508544921875 }, "rotation": { "roll": 0.0020418227650225163, "pitch": 0.4004334807395935, "yaw": -170.58099365234375 } }, "velocity": { "x": -4.0014872550964355, "y": -0.6520196199417114, "z": 0.06314060091972351 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.393982887268066, "transform": { "location": { "x": 1156.2884521484375, "y": 4082.742919921875, "z": 365.7848205566406 }, "rotation": { "roll": -0.0007934614550322294, "pitch": 1.171001672744751, "yaw": -170.7149200439453 } }, "velocity": { "x": -7.296669960021973, "y": -1.1895984411239624, "z": 0.12016899138689041 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.3725341558456421, "transform": { "location": { "x": 1119.646728515625, "y": 4076.7861328125, "z": 366.4298400878906 }, "rotation": { "roll": 0.0018745637498795986, "pitch": -0.02817452885210514, "yaw": -170.7434539794922 } }, "velocity": { "x": -0.3677637279033661, "y": -0.059084147214889526, "z": 0.006370849441736937 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.000292387354420498, "transform": { "location": { "x": 1104.8804931640625, "y": 4074.378662109375, "z": 366.67095947265625 }, "rotation": { "roll": 0.006691501010209322, "pitch": 0.9859992265701294, "yaw": -170.33700561523438 } }, "velocity": { "x": 5.3474304877454415e-05, "y": -1.31726637846441e-05, "z": 0.0002871538745239377 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 1.0, "expert_control_brake": 0.0, "expert_control_steer": 0.16920430958271027, "expert_target_speed": 7.980949467894213, "target_point": [ 18.761150648751503, 0.46581297879849837 ], "target_point_next": [ 18.761150648751503, 0.46581297879849837 ] }, "495": { "acceleration": [ -0.9955310821533203, -0.33507585525512695, 0.027982592582702637 ], "angular_velocity": [ -0.04304873198270798, -0.026071680709719658, 3.880300760269165 ], "forward_vector": [ -0.9885119795799255, -0.14982618391513824, 0.019904252141714096 ], "right_vector": [ 0.14987631142139435, -0.9887042045593262, 0.0010421541519463062 ], "location": [ 1136.4906005859375, 4079.81298828125, 366.1148986816406 ], "rotation": [ -0.05972287803888321, 1.1405049562454224, -171.3814239501953 ], "velocity": [ -8.008934020996094, -1.2325376272201538, 0.13891999423503876 ], "speed": 8.103219925139769, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 17.298063278198242, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1119.4674072265625, 4076.757080078125, 366.4236755371094 ], "velocity": [ -0.8295925855636597, -0.13482676446437836, 0.015828503295779228 ], "speed_kmh": 3.026254850664946, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.027850151062012, "transform": { "location": { "x": 1158.479248046875, "y": 4086.340576171875, "z": 365.7367858886719 }, "rotation": { "roll": -0.0003051788662560284, "pitch": -0.9451000690460205, "yaw": 9.240433692932129 } }, "velocity": { "x": 7.922614097595215, "y": 1.2889726161956787, "z": -0.13081994652748108 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 1209.9969482421875, "y": 4094.62109375, "z": 364.9386291503906 }, "rotation": { "roll": -6.670802132902054e-09, "pitch": -0.8275388479232788, "yaw": 9.234707832336426 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.173895359039307, "transform": { "location": { "x": 1172.3038330078125, "y": 4085.34716796875, "z": 365.5270080566406 }, "rotation": { "roll": 0.001855428097769618, "pitch": 0.9556390643119812, "yaw": -170.66171264648438 } }, "velocity": { "x": -5.105590343475342, "y": -0.8334635496139526, "z": 0.08647225797176361 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.433100700378418, "transform": { "location": { "x": 1154.3394775390625, "y": 4082.425537109375, "z": 365.8170166015625 }, "rotation": { "roll": 3.7153124139877036e-05, "pitch": 1.1359970569610596, "yaw": -170.72828674316406 } }, "velocity": { "x": -8.322526931762695, "y": -1.354188323020935, "z": 0.13746120035648346 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.8406263589859009, "transform": { "location": { "x": 1119.4674072265625, "y": 4076.757080078125, "z": 366.4236755371094 }, "rotation": { "roll": 0.0008808342390693724, "pitch": 1.1370420455932617, "yaw": -170.73135375976562 } }, "velocity": { "x": -0.8295925855636597, "y": -0.13482676446437836, "z": 0.015828503295779228 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0007289170171134174, "transform": { "location": { "x": 1104.88037109375, "y": 4074.378662109375, "z": 366.6709289550781 }, "rotation": { "roll": 0.007002399303019047, "pitch": 0.9916477799415588, "yaw": -170.33676147460938 } }, "velocity": { "x": 5.6571960158180445e-05, "y": -4.15577924286481e-05, "z": 0.0007255291566252708 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 0.28123989701271057, "expert_control_brake": 0.0, "expert_control_steer": 0.16443881392478943, "expert_target_speed": 8.046635138532022, "target_point": [ 16.771923046694607, 0.36502476577394605 ], "target_point_next": [ 16.771923046694607, 0.36502476577394605 ] }, "500": { "acceleration": [ 1.6244888305664062, 0.16717195510864258, -0.013779401779174805 ], "angular_velocity": [ 0.18233121931552887, -0.7256332635879517, -2.127124786376953 ], "forward_vector": [ -0.9880293011665344, -0.15320777893066406, 0.018037771806120872 ], "right_vector": [ 0.15324713289737701, -0.9881874918937683, 0.0008121317951008677 ], "location": [ 1134.49462890625, 4079.50390625, 366.14996337890625 ], "rotation": [ -0.046539306640625, 1.0335441827774048, -171.18568420410156 ], "velocity": [ -7.858765602111816, -1.229891300201416, 0.13799601793289185 ], "speed": 7.9544220028388635, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 15.494343757629395, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1119.2545166015625, 4076.722412109375, 366.4273681640625 ], "velocity": [ -0.8270186185836792, -0.13428598642349243, 0.015201596543192863 ], "speed_kmh": 3.016756202913884, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.044261932373047, "transform": { "location": { "x": 1160.4620361328125, "y": 4086.662841796875, "z": 365.70440673828125 }, "rotation": { "roll": 0.0002431712782708928, "pitch": -0.9378395676612854, "yaw": 9.2372465133667 } }, "velocity": { "x": 7.93890380859375, "y": 1.2911052703857422, "z": -0.1304180771112442 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5989, "type": "vehicle.ford.mustang", "speed_kmh": 0.0, "transform": { "location": { "x": 1212.0535888671875, "y": 4094.952392578125, "z": 364.90850830078125 }, "rotation": { "roll": -6.670802132902054e-09, "pitch": -0.8275388479232788, "yaw": 9.234707832336426 } }, "velocity": { "x": 0.0, "y": 0.0, "z": 0.0 }, "bounding_box_extent": { "x": 2.358762502670288, "y": 0.947413444519043, "z": 0.650469958782196 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 5.725083827972412, "transform": { "location": { "x": 1170.9835205078125, "y": 4085.1318359375, "z": 365.5482482910156 }, "rotation": { "roll": 0.0026690370868891478, "pitch": 1.0096385478973389, "yaw": -170.68634033203125 } }, "velocity": { "x": -5.6498284339904785, "y": -0.9209197163581848, "z": 0.08906326442956924 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 8.212189674377441, "transform": { "location": { "x": 1152.2391357421875, "y": 4082.084228515625, "z": 365.8517761230469 }, "rotation": { "roll": 0.00013348797801882029, "pitch": 0.9705766439437866, "yaw": -170.78677368164062 } }, "velocity": { "x": -8.10479736328125, "y": -1.3166953325271606, "z": 0.13652539253234863 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.8379878401756287, "transform": { "location": { "x": 1119.2545166015625, "y": 4076.722412109375, "z": 366.4273681640625 }, "rotation": { "roll": -0.00012207470717839897, "pitch": 1.1619516611099243, "yaw": -170.73568725585938 } }, "velocity": { "x": -0.8270186185836792, "y": -0.13428598642349243, "z": 0.015201596543192863 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0002868457231670618, "transform": { "location": { "x": 1104.88037109375, "y": 4074.378662109375, "z": 366.6709289550781 }, "rotation": { "roll": 0.007002399303019047, "pitch": 0.9916477799415588, "yaw": -170.33676147460938 } }, "velocity": { "x": 3.586426464607939e-05, "y": 9.04668127077457e-07, "z": 0.00028459340683184564 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.18080686032772064, "expert_target_speed": 7.714334190286963, "target_point": [ 14.753311283799047, 0.30813686981328514 ], "target_point_next": [ 14.753311283799047, 0.30813686981328514 ] }, "505": { "acceleration": [ 3.0582427978515625, 0.4056429862976074, -0.0515592098236084 ], "angular_velocity": [ 0.23480834066867828, -0.6746881008148193, 3.4729418754577637 ], "forward_vector": [ -0.9876046180725098, -0.15627853572368622, 0.014631105586886406 ], "right_vector": [ 0.15630461275577545, -0.9877086281776428, 0.0006492089596576989 ], "location": [ 1132.609130859375, 4079.206787109375, 366.18359375 ], "rotation": [ -0.0372009202837944, 0.8383305668830872, -171.00807189941406 ], "velocity": [ -7.210721492767334, -1.148425579071045, 0.12597493827342987 ], "speed": 7.301601588481902, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 13.838208198547363, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1119.0054931640625, 4076.681884765625, 366.4324035644531 ], "velocity": [ -1.3961302042007446, -0.22767913341522217, 0.023773888126015663 ], "speed_kmh": 5.093182661450214, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.026639938354492, "transform": { "location": { "x": 1162.4447021484375, "y": 4086.98486328125, "z": 365.67205810546875 }, "rotation": { "roll": -0.001068111858330667, "pitch": -0.9315489530563354, "yaw": 9.238773345947266 } }, "velocity": { "x": 7.921326637268066, "y": 1.2895115613937378, "z": -0.12924394011497498 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 7.0682053565979, "transform": { "location": { "x": 1169.48291015625, "y": 4084.88720703125, "z": 365.5721130371094 }, "rotation": { "roll": 0.001973953563719988, "pitch": 1.1761038303375244, "yaw": -170.71934509277344 } }, "velocity": { "x": -6.97552490234375, "y": -1.1355036497116089, "z": 0.11052791029214859 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.279310703277588, "transform": { "location": { "x": 1150.337890625, "y": 4081.775146484375, "z": 365.8833923339844 }, "rotation": { "roll": -0.0016479543410241604, "pitch": 0.8420940041542053, "yaw": -170.75514221191406 } }, "velocity": { "x": -7.184116840362549, "y": -1.1671520471572876, "z": 0.12076930701732635 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 1.4147729873657227, "transform": { "location": { "x": 1119.0054931640625, "y": 4076.681884765625, "z": 366.4324035644531 }, "rotation": { "roll": 0.0002597068960312754, "pitch": 1.082229733467102, "yaw": -170.7215576171875 } }, "velocity": { "x": -1.3961302042007446, "y": -0.22767913341522217, "z": 0.023773888126015663 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.0010160710662603378, "transform": { "location": { "x": 1104.88037109375, "y": 4074.378662109375, "z": 366.6709289550781 }, "rotation": { "roll": 0.007002399303019047, "pitch": 0.9916477799415588, "yaw": -170.33676147460938 } }, "velocity": { "x": 5.266591688268818e-05, "y": 1.0001398550230078e-05, "z": 0.0010146559216082096 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.1991214156150818, "expert_target_speed": 7.032113024886909, "target_point": [ 12.845431292597972, 0.26362790392046875 ], "target_point_next": [ 12.845431292597972, 0.26362790392046875 ] }, "510": { "acceleration": [ 0.2017688751220703, 0.041849613189697266, 0.005586594343185425 ], "angular_velocity": [ -0.07497517019510269, 0.6188172698020935, -2.7220821380615234 ], "forward_vector": [ -0.9873185157775879, -0.15816029906272888, 0.0136939762160182 ], "right_vector": [ 0.15818123519420624, -0.9874100089073181, 0.0004532272869255394 ], "location": [ 1130.8953857421875, 4078.932373046875, 366.2138671875 ], "rotation": [ -0.025970447808504105, 0.784631609916687, -170.89901733398438 ], "velocity": [ -6.698850631713867, -1.0786728858947754, 0.11895391345024109 ], "speed": 6.785140748781696, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 12.580183029174805, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1118.534423828125, 4076.60498046875, 366.43939208984375 ], "velocity": [ -2.4348485469818115, -0.39591658115386963, 0.04281868040561676 ], "speed_kmh": 8.881916341461078, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.043460845947266, "transform": { "location": { "x": 1164.4271240234375, "y": 4087.307373046875, "z": 365.6398620605469 }, "rotation": { "roll": -0.0020141578279435635, "pitch": -0.931303083896637, "yaw": 9.243001937866211 } }, "velocity": { "x": 7.937779903411865, "y": 1.2933540344238281, "z": -0.12707994878292084 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.76069164276123, "transform": { "location": { "x": 1167.489013671875, "y": 4084.56298828125, "z": 365.60400390625 }, "rotation": { "roll": -0.0003356807283125818, "pitch": 1.2585852146148682, "yaw": -170.75723266601562 } }, "velocity": { "x": -8.645890235900879, "y": -1.4067423343658447, "z": 0.13917769491672516 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 6.770949363708496, "transform": { "location": { "x": 1148.6285400390625, "y": 4081.497314453125, "z": 365.9122314453125 }, "rotation": { "roll": -0.0007629347965121269, "pitch": 0.8707056641578674, "yaw": -170.78872680664062 } }, "velocity": { "x": -6.682353496551514, "y": -1.0859462022781372, "z": 0.11236143112182617 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 2.4671988487243652, "transform": { "location": { "x": 1118.534423828125, "y": 4076.60498046875, "z": 366.43939208984375 }, "rotation": { "roll": 0.0009047191124409437, "pitch": 1.2425684928894043, "yaw": -170.72796630859375 } }, "velocity": { "x": -2.4348485469818115, "y": -0.39591658115386963, "z": 0.04281868040561676 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.00018515167175792158, "transform": { "location": { "x": 1104.88037109375, "y": 4074.378662109375, "z": 366.6709289550781 }, "rotation": { "roll": 0.007002399303019047, "pitch": 0.9916477799415588, "yaw": -170.33676147460938 } }, "velocity": { "x": 3.5672634112415835e-05, "y": 1.508556266571759e-07, "z": 0.0001816826406866312 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.20618243515491486, "expert_target_speed": 6.480782408975991, "target_point": [ 11.110333458580609, 0.23928785030698196 ], "target_point_next": [ 11.110333458580609, 0.23928785030698196 ] }, "515": { "acceleration": [ 4.538259506225586, 0.7253873348236084, -0.07461205124855042 ], "angular_velocity": [ 0.11536996066570282, -0.24385769665241241, 0.6872924566268921 ], "forward_vector": [ -0.9871538281440735, -0.159555584192276, 0.008325479924678802 ], "right_vector": [ 0.15956266224384308, -0.9871878027915955, 0.00018801262194756418 ], "location": [ 1129.4859619140625, 4078.70654296875, 366.2398681640625 ], "rotation": [ -0.010772702284157276, 0.47702038288116455, -170.81857299804688 ], "velocity": [ -4.917464256286621, -0.7915930151939392, 0.08674642443656921 ], "speed": 4.980770443772767, "speed_limit": 30.0, "lane_info": { "lane_id": 1, "lane_type": "Driving", "lane_width": 3.0, "is_junction": false }, "lane_change_count": 0, "distance_to_front_vehicle": 11.52151107788086, "front_vehicle_info": { "id": 5952, "type": "vehicle.nissan.patrol_2021", "location": [ 1118.1707763671875, 4076.546142578125, 366.4507751464844 ], "velocity": [ -0.006568799261003733, -0.0010582513641566038, -0.0002278669853694737 ], "speed_kmh": 0.023966631424792374, "color": "0,0,0" }, "other_vehicles": [ { "id": 5991, "type": "vehicle.lincoln.mkz_2020", "speed_kmh": 8.028336524963379, "transform": { "location": { "x": 1166.4097900390625, "y": 4087.629638671875, "z": 365.6080017089844 }, "rotation": { "roll": -0.0004882821231149137, "pitch": -0.9252924919128418, "yaw": 9.245985984802246 } }, "velocity": { "x": 7.923030853271484, "y": 1.2897765636444092, "z": -0.1274496465921402 }, "bounding_box_extent": { "x": 2.44619083404541, "y": 0.9183566570281982, "z": 0.7451388239860535 } }, { "id": 5986, "type": "vehicle.dodge.charger_2020", "speed_kmh": 8.4343900680542, "transform": { "location": { "x": 1165.328369140625, "y": 4084.211669921875, "z": 365.638671875 }, "rotation": { "roll": 0.0008580354624427855, "pitch": 0.9570733904838562, "yaw": -170.76876831054688 } }, "velocity": { "x": -8.324103355407715, "y": -1.3528281450271606, "z": 0.13449670374393463 }, "bounding_box_extent": { "x": 2.5039126873016357, "y": 0.9408109784126282, "z": 0.7673624753952026 } }, { "id": 5953, "type": "vehicle.mercedes.coupe_2020", "speed_kmh": 7.496809005737305, "transform": { "location": { "x": 1146.881591796875, "y": 4081.213623046875, "z": 365.94183349609375 }, "rotation": { "roll": 0.0004734808171633631, "pitch": 1.0313448905944824, "yaw": -170.75393676757812 } }, "velocity": { "x": -7.398768901824951, "y": -1.2020409107208252, "z": 0.12436177581548691 }, "bounding_box_extent": { "x": 2.3368194103240967, "y": 0.9059062600135803, "z": 0.7209736704826355 } }, { "id": 5952, "type": "vehicle.nissan.patrol_2021", "speed_kmh": 0.006657397840172052, "transform": { "location": { "x": 1118.1707763671875, "y": 4076.546142578125, "z": 366.4507751464844 }, "rotation": { "roll": -0.0002746617537923157, "pitch": 0.6338210105895996, "yaw": -170.73788452148438 } }, "velocity": { "x": -0.006568799261003733, "y": -0.0010582513641566038, "z": -0.0002278669853694737 }, "bounding_box_extent": { "x": 2.782914400100708, "y": 1.0749834775924683, "z": 1.0225735902786255 } }, { "id": 5951, "type": "vehicle.chevrolet.impala", "speed_kmh": 0.00011320026533212513, "transform": { "location": { "x": 1104.88037109375, "y": 4074.378662109375, "z": 366.6709289550781 }, "rotation": { "roll": 0.007002399303019047, "pitch": 0.9916477799415588, "yaw": -170.33676147460938 } }, "velocity": { "x": 2.849787415470928e-05, "y": -1.1828708920802455e-05, "z": -0.00010891396959777921 }, "bounding_box_extent": { "x": 2.6787397861480713, "y": 1.0166014432907104, "z": 0.7053293585777283 } } ], "walkers": [], "expert_control_throttle": 0.0, "expert_control_brake": 1.0, "expert_control_steer": 0.21730153262615204, "expert_target_speed": 4.817490261275582, "target_point": [ 9.683258362273353, 0.22564310835202317 ], "target_point_next": [ 9.683258362273353, 0.22564310835202317 ] } }